arXiv subjects

Ming Liu

Publications and source records attributed to Ming Liu.

At least 379 records · Page 21Linked to original sources

arXiv2021

YOLOStereo3D: A Step Back to 2D for Efficient Stereo 3D Detection

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object detection are based on dense depth reconstruction from disparity estimation, making them extremely computationally expensive. To enable real-world deployments of vision detection with binocular images, we take a step back to gain insights from 2D image-based detection frameworks and enhance them with stereo features. We incorporate knowledge and the inference structure from real-time one-stage 2D/3D object detector and introduce a light-weight stereo matching module. Our proposed framework, YOLOStereo3D, is trained on one single GPU and runs at more than ten fps. It demonstrates performance comparable to state-of-the-art stereo 3D detection frameworks without usage of LiDAR data. The code will be published in https://github.com/Owen-Liuyuxuan/visualDet3D.

cs.CV↗

arXiv2021

PVStereo: Pyramid Voting Module for End-to-End Self-Supervised Stereo Matching

Supervised learning with deep convolutional neural networks (DCNNs) has seen huge adoption in stereo matching. However, the acquisition of large-scale datasets with well-labeled ground truth is cumbersome and labor-intensive, making supervised learning-based approaches often hard to implement in practice. To overcome this drawback, we propose a robust and effective self-supervised stereo matching approach, consisting of a pyramid voting module (PVM) and a novel DCNN architecture, referred to as OptStereo. Specifically, our OptStereo first builds multi-scale cost volumes, and then adopts a recurrent unit to iteratively update disparity estimations at high resolution; while our PVM can generate reliable semi-dense disparity images, which can be employed to supervise OptStereo training. Furthermore, we publish the HKUST-Drive dataset, a large-scale synthetic stereo dataset, collected under different illumination and weather conditions for research purposes. Extensive experimental results demonstrate the effectiveness and efficiency of our self-supervised stereo matching approach on the KITTI Stereo benchmarks and our HKUST-Drive dataset. PVStereo, our best-performing implementation, greatly outperforms all other state-of-the-art self-supervised stereo matching approaches. Our project page is available at sites.google.com/view/pvstereo.

cs.CV↗

arXiv2021

Learning Collision-Free Space Detection from Stereo Images: Homography Matrix Brings Better Data Augmentation

Collision-free space detection is a critical component of autonomous vehicle perception. The state-of-the-art algorithms are typically based on supervised learning. The performance of such approaches is always dependent on the quality and amount of labeled training data. Additionally, it remains an open challenge to train deep convolutional neural networks (DCNNs) using only a small quantity of training samples. Therefore, this paper mainly explores an effective training data augmentation approach that can be employed to improve the overall DCNN performance, when additional images captured from different views are available. Due to the fact that the pixels of the collision-free space (generally regarded as a planar surface) between two images captured from different views can be associated by a homography matrix, the scenario of the target image can be transformed into the reference view. This provides a simple but effective way of generating training data from additional multi-view images. Extensive experimental results, conducted with six state-of-the-art semantic segmentation DCNNs on three datasets, demonstrate the effectiveness of our proposed training data augmentation algorithm for enhancing collision-free space detection performance. When validated on the KITTI road benchmark, our approach provides the best results for stereo vision-based collision-free space detection.

cs.RO↗

arXiv2021

6 nm super-resolution optical transmission and scattering spectroscopic imaging of carbon nanotubes using a nanometer-scale white light source

Optical hyperspectral imaging based on absorption and scattering of photons at the visible and adjacent frequencies denotes one of the most informative and inclusive characterization methods in material research. Unfortunately, restricted by the diffraction limit of light, it is unable to resolve the nanoscale inhomogeneity in light-matter interactions, which is diagnostic of the local modulation in material structure and properties. Moreover, many nanomaterials have highly anisotropic optical properties that are outstandingly appealing yet hard to characterize through conventional optical methods. Therefore, there has been a pressing demand in the diverse fields including electronics, photonics, physics, and materials science to extend the optical hyperspectral imaging into the nanometer length scale. In this work, we report a super-resolution hyperspectral imaging technique that simultaneously measures optical absorption and scattering spectra with the illumination from a tungsten-halogen lamp. We demonstrated sub-5 nm spatial resolution in both visible and near-infrared wavelengths (415 to 980 nm) for the hyperspectral imaging of strained single-walled carbon nanotubes (SWNT) and reconstructed true-color images to reveal the longitudinal and transverse optical transition-induced light absorption and scattering in the SWNTs. This is the first time transverse optical absorption in SWNTs were clearly observed experimentally. The new technique provides rich near-field spectroscopic information that had made it possible to analyze the spatial modulation of band-structure along a single SWNT induced through strain engineering.

physics.optics↗

arXiv2021

Three-Filters-to-Normal: An Accurate and Ultrafast Surface Normal Estimator

This paper proposes three-filters-to-normal (3F2N), an accurate and ultrafast surface normal estimator (SNE), which is designed for structured range sensor data, e.g., depth/disparity images. 3F2N SNE computes surface normals by simply performing three filtering operations (two image gradient filters in horizontal and vertical directions, respectively, and a mean/median filter) on an inverse depth image or a disparity image. Despite the simplicity of 3F2N SNE, no similar method already exists in the literature. To evaluate the performance of our proposed SNE, we created three large-scale synthetic datasets (easy, medium and hard) using 24 3D mesh models, each of which is used to generate 1800--2500 pairs of depth images (resolution: 480X640 pixels) and the corresponding ground-truth surface normal maps from different views. 3F2N SNE demonstrates the state-of-the-art performance, outperforming all other existing geometry-based SNEs, where the average angular errors with respect to the easy, medium and hard datasets are 1.66 degrees, 5.69 degrees and 15.31 degrees, respectively. Furthermore, our C++ and CUDA implementations achieve a processing speed of over 260 Hz and 21 kHz, respectively. Our datasets and source code are publicly available at sites.google.com/view/3f2n.

cs.CV↗

arXiv2021

Trotter-Kato approximations of semilinear stochastic evolution equations in Hilbert spaces

Motivated by the work of T.E. Govindan in [5,8,9], this paper is concerned with a more general semilinear stochastic evolution equation. The difference between the equations considered in this paper and the previous one is that it makes some changes to the nonlinear function in random integral, which also depends on the probability distribution of stochastic process at that time. First, this paper considers the existence and uniqueness of mild solutions for such equations. Furthermore, Trotter-Kato approximation system is introduced for the mild solutions, and the weak convergence of induced probability measures and zeroth-order approximations are obtained. Then we consider the classical limit theorem about the parameter dependence of this kind of equations. Finally, an example of stochastic partial differential equation is given to illustrate our results.

math.PR↗

arXiv2021

Dynamic Fusion Module Evolves Drivable Area and Road Anomaly Detection: A Benchmark and Algorithms

Joint detection of drivable areas and road anomalies is very important for mobile robots. Recently, many semantic segmentation approaches based on convolutional neural networks (CNNs) have been proposed for pixel-wise drivable area and road anomaly detection. In addition, some benchmark datasets, such as KITTI and Cityscapes, have been widely used. However, the existing benchmarks are mostly designed for self-driving cars. There lacks a benchmark for ground mobile robots, such as robotic wheelchairs. Therefore, in this paper, we first build a drivable area and road anomaly detection benchmark for ground mobile robots, evaluating the existing state-of-the-art single-modal and data-fusion semantic segmentation CNNs using six modalities of visual features. Furthermore, we propose a novel module, referred to as the dynamic fusion module (DFM), which can be easily deployed in existing data-fusion networks to fuse different types of visual features effectively and efficiently. The experimental results show that the transformed disparity image is the most informative visual feature and the proposed DFM-RTFNet outperforms the state-of-the-arts. Additionally, our DFM-RTFNet achieves competitive performance on the KITTI road benchmark. Our benchmark is publicly available at https://sites.google.com/view/gmrb.

cs.CV↗

arXiv2021

Two-Stage Single Image Reflection Removal with Reflection-Aware Guidance

Removing undesired reflection from an image captured through a glass surface is a very challenging problem with many practical application scenarios. For improving reflection removal, cascaded deep models have been usually adopted to estimate the transmission in a progressive manner. However, most existing methods are still limited in exploiting the result in prior stage for guiding transmission estimation. In this paper, we present a novel two-stage network with reflection-aware guidance (RAGNet) for single image reflection removal (SIRR). To be specific, the reflection layer is firstly estimated due to that it generally is much simpler and is relatively easier to estimate. Reflectionaware guidance (RAG) module is then elaborated for better exploiting the estimated reflection in predicting transmission layer. By incorporating feature maps from the estimated reflection and observation, RAG can be used (i) to mitigate the effect of reflection from the observation, and (ii) to generate mask in partial convolution for mitigating the effect of deviating from linear combination hypothesis. A dedicated mask loss is further presented for reconciling the contributions of encoder and decoder features. Experiments on five commonly used datasets demonstrate the quantitative and qualitative superiority of our RAGNet in comparison to the state-of-the-art SIRR methods. The source code and pre-trained model are available at https://github.com/liyucs/RAGNet.

cs.CV↗

arXiv2021

The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation

Since early 2020, the coronavirus disease 2019 (COVID-19) has spread rapidly across the world. As at the date of writing this article, the disease has been globally reported in 223 countries and regions, infected over 108 million people and caused over 2.4 million deaths (https://covid19.who.int/, accessed on Feb. 17, 2021). Avoiding person-to-person transmission is an effective approach to control and prevent the pandemic. However, many daily activities, such as transporting goods in our daily life, inevitably involve person-to-person contact. Using an autonomous logistic vehicle to achieve contact-less goods transportation could alleviate this issue. For example, it can reduce the risk of virus transmission between the driver and customers. Moreover, many countries have imposed tough lockdown measures to reduce the virus transmission (e.g., retail, catering) during the pandemic, which causes inconveniences for human daily life. Autonomous vehicle can deliver the goods bought by humans, so that humans can get the goods without going out. These demands motivate us to develop an autonomous vehicle, named as Hercules, for contact-less goods transportation during the COVID-19 pandemic. The vehicle is evaluated through real-world delivering tasks under various traffic conditions.

cs.RO↗

arXiv2021

Autonomous Navigation through intersections with Graph ConvolutionalNetworks and Conditional Imitation Learning for Self-driving Cars

In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation policy learning. Specifically, we firstly represent such dynamic environments as graph-structured data and propose an effective strategy for edge definition to aggregate surrounding information for the ego-vehicle. Then graph convolutional neural networks are used as the perception module to capture global and geometric features from the environment. To generate safe and efficient navigation policy, we further incorporate it with conditional imitation learning algorithm, to learn driving behaviors directly from expert demonstrations. Our proposed network is capable of handling a varying number of surrounding vehicles and generating optimal control actions (e.g., steering angle and throttle) according to the given high-level commands (e.g., turn left towards the global goal). Evaluations on unsignaled intersections with various traffic densities demonstrate that our end-to-end trainable neural network outperforms the baselines with higher success rate and shorter navigation time.

cs.RO↗

arXiv2021

Ground-aware Monocular 3D Object Detection for Autonomous Driving

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the geometric constraints in 2D-3D correspondence, which stems from generic 6D object pose estimation. We first identify how the ground plane provides additional clues in depth reasoning in 3D detection in driving scenes. Based on this observation, we then improve the processing of 3D anchors and introduce a novel neural network module to fully utilize such application-specific priors in the framework of deep learning. Finally, we introduce an efficient neural network embedded with the proposed module for 3D object detection. We further verify the power of the proposed module with a neural network designed for monocular depth prediction. The two proposed networks achieve state-of-the-art performances on the KITTI 3D object detection and depth prediction benchmarks, respectively. The code will be published in https://www.github.com/Owen-Liuyuxuan/visualDet3D

cs.CV↗

arXiv2021

AVGCN: Trajectory Prediction using Graph Convolutional Networks Guided by Human Attention

Pedestrian trajectory prediction is a critical yet challenging task, especially for crowded scenes. We suggest that introducing an attention mechanism to infer the importance of different neighbors is critical for accurate trajectory prediction in scenes with varying crowd size. In this work, we propose a novel method, AVGCN, for trajectory prediction utilizing graph convolutional networks (GCN) based on human attention (A denotes attention, V denotes visual field constraints). First, we train an attention network that estimates the importance of neighboring pedestrians, using gaze data collected as subjects perform a bird's eye view crowd navigation task. Then, we incorporate the learned attention weights modulated by constraints on the pedestrian's visual field into a trajectory prediction network that uses a GCN to aggregate information from neighbors efficiently. AVGCN also considers the stochastic nature of pedestrian trajectories by taking advantage of variational trajectory prediction. Our approach achieves state-of-the-art performance on several trajectory prediction benchmarks, and the lowest average prediction error over all considered benchmarks.

cs.CV↗

arXiv2020

Rethinking Road Surface 3D Reconstruction and Pothole Detection: From Perspective Transformation to Disparity Map Segmentation

Potholes are one of the most common forms of road damage, which can severely affect driving comfort, road safety and vehicle condition. Pothole detection is typically performed by either structural engineers or certified inspectors. This task is, however, not only hazardous for the personnel but also extremely time-consuming. This paper presents an efficient pothole detection algorithm based on road disparity map estimation and segmentation. We first generalize the perspective transformation by incorporating the stereo rig roll angle. The road disparities are then estimated using semi-global matching. A disparity map transformation algorithm is then performed to better distinguish the damaged road areas. Finally, we utilize simple linear iterative clustering to group the transformed disparities into a collection of superpixels. The potholes are then detected by finding the superpixels, whose values are lower than an adaptively determined threshold. The proposed algorithm is implemented on an NVIDIA RTX 2080 Ti GPU in CUDA. The experiments demonstrate the accuracy and efficiency of our proposed road pothole detection algorithm, where an accuracy of 99.6% and an F-score of 89.4% are achieved.

cs.CV↗

arXiv2020

Neural SLAM: Learning to Explore with External Memory

We present an approach for agents to learn representations of a global map from sensor data, to aid their exploration in new environments. To achieve this, we embed procedures mimicking that of traditional Simultaneous Localization and Mapping (SLAM) into the soft attention based addressing of external memory architectures, in which the external memory acts as an internal representation of the environment. This structure encourages the evolution of SLAM-like behaviors inside a completely differentiable deep neural network. We show that this approach can help reinforcement learning agents to successfully explore new environments where long-term memory is essential. We validate our approach in both challenging grid-world environments and preliminary Gazebo experiments. A video of our experiments can be found at: https://goo.gl/G2Vu5y.

cs.LG↗

arXiv2020

Representations of Quantum Affine Algebras in their $R$-Matrix Realization

We use the isomorphisms between the $R$-matrix and Drinfeld presentations of the quantum affine algebras in types $B$, $C$ and $D$ produced in our previous work to describe finite-dimensional irreducible representations in the $R$-matrix realization. We also review the isomorphisms for the Yangians of these types and use Gauss decomposition to establish an equivalence of the descriptions of the representations in the $R$-matrix and Drinfeld presentations of the Yangians.

math.RT↗

arXiv2020

Photoluminescence from Single-Walled MoS$_2$ Nanotubes Coaxially Grown on Boron Nitride Nanotubes

Single- and multi-walled molybdenum disulfide (MoS$_2$) nanotubes have been coaxially grown on small diameter boron nitride nanotubes (BNNTs) which were synthesized from heteronanotubes by removing single-walled carbon nanotubes (SWCNTs), and systematically investigated by optical spectroscopy. The strong photoluminescence (PL) from single-walled MoS$_2$ nanotubes supported by core BNNTs is observed in this work, which evidences a direct band gap structure for single-walled MoS$_2$ nanotubes with around 6 - 7 nm in diameter. The observation is consistent with our DFT results that the single-walled MoS$_2$ nanotube changes from an indirect-gap to a direct-gap semiconductor when the diameter of a nanotube is more than around 5 nm. On the other hand, when there are SWCNTs inside the heteronanotubes of BNNTs and MoS$_2$ nanotubes, the PL signal is considerably quenched. The charge transfer and energy transfer between SWCNTs and single-walled MoS$_2$ nanotubes were examined through characterizations by PL, XPS, and Raman spectroscopy. Unlike the single-walled MoS$_2$ nanotubes, multi-walled MoS$_2$ nanotubes do not emit light. Single- and multi-walled MoS$_2$ nanotubes exhibit different Raman features in both resonant and non-resonant Raman spectra. The method of assembling heteronanotubes using BNNTs as templates provides an efficient approach for exploring the electronic and optical properties of other transition metal dichalcogenide nanotubes.

cond-mat.mtrl-sci↗

arXiv2020

Variational Auto-encoder Based Bayesian Poisson Tensor Factorization for Sparse and Imbalanced Count Data

Non-negative tensor factorization models enable predictive analysis on count data. Among them, Bayesian Poisson-Gamma models can derive full posterior distributions of latent factors and are less sensitive to sparse count data. However, current inference methods for these Bayesian models adopt restricted update rules for the posterior parameters. They also fail to share the update information to better cope with the data sparsity. Moreover, these models are not endowed with a component that handles the imbalance in count data values. In this paper, we propose a novel variational auto-encoder framework called VAE-BPTF which addresses the above issues. It uses multi-layer perceptron networks to encode and share complex update information. The encoded information is then reweighted per data instance to penalize common data values before aggregated to compute the posterior parameters for the latent factors. Under synthetic data evaluation, VAE-BPTF tended to recover the right number of latent factors and posterior parameter values. It also outperformed current models in both reconstruction errors and latent factor (semantic) coherence across five real-world datasets. Furthermore, the latent factors inferred by VAE-BPTF are perceived to be meaningful and coherent under a qualitative analysis.

cs.LG↗

arXiv2020

We Learn Better Road Pothole Detection: from Attention Aggregation to Adversarial Domain Adaptation

Manual visual inspection performed by certified inspectors is still the main form of road pothole detection. This process is, however, not only tedious, time-consuming and costly, but also dangerous for the inspectors. Furthermore, the road pothole detection results are always subjective, because they depend entirely on the individual experience. Our recently introduced disparity (or inverse depth) transformation algorithm allows better discrimination between damaged and undamaged road areas, and it can be easily deployed to any semantic segmentation network for better road pothole detection results. To boost the performance, we propose a novel attention aggregation (AA) framework, which takes the advantages of different types of attention modules. In addition, we develop an effective training set augmentation technique based on adversarial domain adaptation, where the synthetic road RGB images and transformed road disparity (or inverse depth) images are generated to enhance the training of semantic segmentation networks. The experimental results demonstrate that, firstly, the transformed disparity (or inverse depth) images become more informative; secondly, AA-UNet and AA-RTFNet, our best performing implementations, respectively outperform all other state-of-the-art single-modal and data-fusion networks for road pothole detection; and finally, the training set augmentation technique based on adversarial domain adaptation not only improves the accuracy of the state-of-the-art semantic segmentation networks, but also accelerates their convergence.

cs.CV↗