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PublicationImproving Semantic Image Segmentation via Label Fusion in Semantically Textured Meshes( 2022)Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of video sequences in an unsupervised manner. We make use of a 3D mesh representation of the environment and fuse the predictions of different frames into a consistent representation using semantic mesh textures. Rendering the semantic mesh using the original intrinsic and extrinsic camera parameters yields a set of improved semantic segmentation images. Due to our optimized CUDA implementation, we are able to exploit the entire c-dimensional probability distribution of annotations over c classes in an uncertainty-aware manner. We evaluate our method on the Scannet dataset where we improve annotations produced by the state-of-the-art segmentation network ESANet from 52.05% to 58.25% pixel accuracy. We publish the source code of our framework online to foster future research in this area (https://github.com/fferflo/semantic-meshes). To the best of our knowledge, this is the first publicly available label fusion framework for semantic image segmentation based on meshes with semantic textures.
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PublicationAnalysis of Explainers of Black Box Deep Neural Networks for Computer Vision: A Survey( 2021)Deep Learning is a state-of-the-art technique to make inference on extensive or complex data. As a black box model due to their multilayer nonlinear structure, Deep Neural Networks are often criticized as being non-transparent and their predictions not traceable by humans. Furthermore, the models learn from artificially generated datasets, which often do not reflect reality. By basing decision-making algorithms on Deep Neural Networks, prejudice and unfairness may be promoted unknowingly due to a lack of transparency. Hence, several so-called explanators, or explainers, have been developed. Explainers try to give insight into the inner structure of machine learning black boxes by analyzing the connection between the input and output. In this survey, we present the mechanisms and properties of explaining systems for Deep Neural Networks for Computer Vision tasks. We give a comprehensive overview about the taxonomy of related studies and compare several survey papers that deal with explainability in general. We work out the drawbacks and gaps and summarize further research ideas.
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PublicationDecaWave ultra-wideband warm-up error correction( 2021)In the field of indoor localization, ultra-wideband (UWB) technology is no longer dispensable. The market demands that the UWB hardware has to be cheap, precise and accurate. These requirements lead to the popularity of the DecaWave UWB system. The great majority of the publications about this system deals with the correction of the signal power, hardware delay or clock drift. It has traditionally been assumed that this error only appears at the beginning of the operation and is caused by the warm-up process of the crystal. In this article, we show that the warm-up error is influenced by the same error source as the signal power. To our knowledge, no scientific publication has explicitly examined the warm-up error before. This work aims to close this gap and, moreover, to present a solution which does not require any external measuring equipment and only has to be carried out once. It is shown that the empirically obtained warm-up correction curve increases the accuracy for the twoway- ranging (TWR) significantly.
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PublicationGenerating Synthetic Training Data for Deep Learning-Based UAV Trajectory Prediction( 2021)Deep learning-based models, such as recurrent neural networks (RNNs), have been applied to various sequence learning tasks with great success. Following this, these models are increasingly replacing classic approaches in object tracking applications for motion prediction. On the one hand, these models can capture complex object dynamics with less modeling required, but on the other hand, they depend on a large amount of training data for parameter tuning. Towards this end, we present an approach for generating synthetic trajectory data of unmanned-aerial-vehicles (UAVs) in image space. Since UAVs, or rather quadrotors are dynamical systems, they can not follow arbitrary trajectories. With the prerequisite that UAV trajectories fulfill a smoothness criterion corresponding to a minimal change of higher-order motion, methods for planning aggressive quadrotors flights can be utilized to generate optimal trajectories through a sequence of 3D waypoints. By projecting these maneuver trajectories, which are suitable for controlling quadrotors, to image space, a versatile trajectory data set is realized. To demonstrate the applicability of the synthetic trajectory data, we show that an RNN-based prediction model solely trained on the generated data can outperform classic reference models on a real-world UAV tracking dataset. The evaluation is done on the publicly available ANTI-UAV dataset.
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PublicationQuantifying the Complexity of Standard Benchmarking Datasets for Long-Term Human Trajectory Prediction( 2021)Methods to quantify the complexity of trajectory datasets are still a missing piece in benchmarking human trajectory prediction models. In order to gain a better understanding of the complexity of trajectory prediction tasks and following the intuition, that more complex datasets contain more information, an approach for quantifying the amount of information contained in a dataset from a prototype-based dataset representation is proposed. The dataset representation is obtained by first employing a non-trivial spatial sequence alignment, which enables a subsequent learning vector quantization (LVQ) stage. A large-scale complexity analysis is conducted on several human trajectory prediction benchmarking datasets, followed by a brief discussion on indications for human trajectory prediction and benchmarking.
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PublicationInformation Acquisition on Pedestrian Movements in Urban Traffic with a Mobile Multi-Sensor System( 2021)
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PublicationLiDAR-based localization and automatic control of UAVs for mobile remote reconnaissance( 2021)
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PublicationA comparison of deep saliency map generators on multispectral data in object detection( 2021)Deep neural networks, especially convolutional deep neural networks, are state-of-the-art methods to classify, segment or even generate images, movies, or sounds. However, these methods lack of a good semantic understanding of what happens internally. The question, why a COVID-19 detector has classified a stack of lung-ct images as positive, is sometimes more interesting than the overall specificity and sensitivity. Especially when human domain expert knowledge disagrees with the given output. This way, human domain experts could also be advised to reconsider their choice, regarding the information pointed out by the system. In addition, the deep learning model can be controlled, and a present dataset bias can be found. Currently, most explainable AI methods in the computer vision domain are purely used on image classification, where the images are ordinary images in the visible spectrum. As a result, there is no comparison on how the methods behave with multimodal image data, as well as most methods have not been investigated on how they behave when used for object detection. This work tries to close the gaps by investigating three saliency map generator methods on how their maps differ in the different spectra. This is achieved via an accurate and systematic training. Additionally, we examine how they perform when used for object detection. As a practical problem, we chose object detection in the infrared and visual spectrum for autonomous driving. The dataset used in this work, is the Multispectral Object Detection Dataset,1 where each scene is available in the long-wave (FIR), mid-wave (MIR) and short-wave (NIR) infrared as well as the visual (RGB) spectrum. The results show, that there are differences between the infrared and visual activation maps. Further, an advanced training with both, the infrared and visual data not only improves the network's output, it also leads to more focused spots in the saliency maps.
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PublicationHandling Missing Observations with an RNN-based Prediction-Update Cycle( 2021)In tasks such as tracking, time-series data inevitably carry missing observations. While traditional tracking approaches can handle missing observations, recurrent neural networks (RNNs) are designed to receive input data in every step. Furthermore, current solutions for RNNs, like omitting the missing data or data imputation, are not sufficient to account for the resulting increased uncertainty. Towards this end, this paper introduces an RNN-based approach that provides a full temporal filtering cycle for motion state estimation. The Kalman filter inspired approach enables to deal with missing observations and outliers. For providing a full temporal filtering cycle, a basic RNN is extended to take observations and the associated belief about its accuracy into account for updating the current state. An RNN prediction model, which generates a parametrized distribution to capture the predicted states, is combined with an RNN update model, which relies on the prediction model output and the current observation. By providing the model with masking information, binary-encoded missing events, the model can overcome limitations of standard techniques for dealing with missing input values. The model abilities are demonstrated on synthetic data reflecting prototypical pedestrian tracking scenarios.
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PublicationEfficient Tour Planning for a Measurement Vehicle by Combining Next Best View and Traveling Salesman( 2021)
