Models, code, and papers for "Pedro Azevedo":
A draft memory model (DM) for neural networks with spike propagation delay (SNNwD) is described. Novelty in this approach are that the DM learns immediately, with stimuli presented once, without synaptic weight changes, and without external learning algorithm. Basal on this model is to trap spikes within neural loops. In order to construct the DM we developed two functional blocks, also described herein. The decoder block receives input from a single spikes source and connect it to one among many outputs. The selector block operates in the opposite direction, receiving many spikes sources and connecting one of them to a single output. We realized conceptual proofs by testing the DM in the prime numbers classifying task. This activation-based memory can be used as immediate and short-term memory.
We propose a bio-inspired foveated technique to detect cars in a long range camera view using a deep convolutional neural network (DCNN) for the IARA self-driving car. The DCNN receives as input (i) an image, which is captured by a camera installed on IARA's roof; and (ii) crops of the image, which are centered in the waypoints computed by IARA's path planner and whose sizes increase with the distance from IARA. We employ an overlap filter to discard detections of the same car in different crops of the same image based on the percentage of overlap of detections' bounding boxes. We evaluated the performance of the proposed augmented-range vehicle detection system (ARVDS) using the hardware and software infrastructure available in the IARA self-driving car. Using IARA, we captured thousands of images of real traffic situations containing cars in a long range. Experimental results show that ARVDS increases the Average Precision (AP) of long range car detection from 29.51% (using a single whole image) to 63.15%.
We present a theoretical analysis and empirical evaluations of a novel set of techniques for computational cost reduction of classifiers that are based on learned transform and soft-threshold. By modifying optimization procedures for dictionary and classifier training, as well as the resulting dictionary entries, our techniques allow to reduce the bit precision and to replace each floating-point multiplication by a single integer bit shift. We also show how the optimization algorithms in some dictionary training methods can be modified to penalize higher-energy dictionaries. We applied our techniques with the classifier Learning Algorithm for Soft-Thresholding, testing on the datasets used in its original paper. Our results indicate it is feasible to use solely sums and bit shifts of integers to classify at test time with a limited reduction of the classification accuracy. These low power operations are a valuable trade off in FPGA implementations as they increase the classification throughput while decrease both energy consumption and manufacturing cost.
We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the UFES's car, IARA. Finally, we list prominent autonomous research cars developed by technology companies and reported in the media.