Models, code, and papers for "Hengyu Zhao":
Recently, autonomous driving development ignited competition among car makers and technical corporations. Low-level automation cars are already commercially available. But high automated vehicles where the vehicle drives by itself without human monitoring is still at infancy. Such autonomous vehicles (AVs) rely on the computing system in the car to to interpret the environment and make driving decisions. Therefore, computing system design is essential particularly in enhancing the attainment of driving safety. However, to our knowledge, no clear guideline exists so far regarding safety-aware AV computing system and architecture design. To understand the safety requirement of AV computing system, we performed a field study by running industrial Level-4 autonomous driving fleets in various locations, road conditions, and traffic patterns. The field study indicates that traditional computing system performance metrics, such as tail latency, average latency, maximum latency, and timeout, cannot fully satisfy the safety requirement for AV computing system design. To address this issue, we propose a `safety score' as a primary metric for measuring the level of safety in AV computing system design. Furthermore, we propose a perception latency model, which helps architects estimate the safety score of given architecture and system design without physically testing them in an AV. We demonstrate the use of our safety score and latency model, by developing and evaluating a safety-aware AV computing system computation hardware resource management scheme.
As deep learning approaches to scene recognition emerge, they have continued to leverage discriminative regions at multiple scales, building on practices established by conventional image classification research. However, approaches remain largely generic, and do not carefully consider the special properties of scenes. In this paper, inspired by the intuitive differences between scenes and objects, we propose Adi-Red, an adaptive approach to discriminative region discovery for scene recognition. Adi-Red uses a CNN classifier, which was pre-trained using only image-level scene labels, to discover discriminative image regions directly. These regions are then used as a source of features to perform scene recognition. The use of the CNN classifier makes it possible to adapt the number of discriminative regions per image using a simple, yet elegant, threshold, at relatively low computational cost. Experimental results on the scene recognition benchmark dataset SUN397 demonstrate the ability of Adi-Red to outperform the state of the art. Additional experimental analysis on the Places dataset reveals the advantages of Adi-Red, and highlight how they are specific to scenes. We attribute the effectiveness of Adi-Red to the ability of adaptive region discovery to avoid introducing noise, while also not missing out on important information.
An adversarial query is an image that has been modified to disrupt content-based image retrieval (CBIR), while appearing nearly untouched to the human eye. This paper presents an analysis of adversarial queries for CBIR based on neural, local, and global features. We introduce an innovative neural image perturbation approach, called Perturbations for Image Retrieval Error (PIRE), that is capable of blocking neural-feature-based CBIR. To our knowledge PIRE is the first approach to creating neural adversarial examples for CBIR. PIRE differs significantly from existing approaches that create images adversarial with respect to CNN classifiers because it is unsupervised, i.e., it needs no labeled data from the data set to which it is applied. Our experimental analysis demonstrates the surprising effectiveness of PIRE in blocking CBIR, and also covers aspects of PIRE that must be taken into account in practical settings: saving images, image quality, image editing, and leaking adversarial queries into the background collection. Our experiments also compare PIRE (a neural approach) with existing keypoint removal and injection approaches (which modify local features). Finally, we discuss the challenges that face multimedia researchers in the future study of adversarial queries.
Semantic learning and understanding of multi-vehicle interaction patterns in a cluttered driving environment are essential but challenging for autonomous vehicles to make proper decisions. This paper presents a general framework to gain insights into intricate multi-vehicle interaction patterns from bird's-eye view traffic videos. We adopt a Gaussian velocity field to describe the time-varying multi-vehicle interaction behaviors and then use deep autoencoders to learn associated latent representations for each temporal frame. Then, we utilize a hidden semi-Markov model with a hierarchical Dirichlet process as a prior to segment these sequential representations into granular components, also called traffic primitives, corresponding to interaction patterns. Experimental results demonstrate that our proposed framework can extract traffic primitives from videos, thus providing a semantic way to analyze multi-vehicle interaction patterns, even for cluttered driving scenarios that are far messier than human beings can cope with.
Many Natural Language Processing works on emotion analysis only focus on simple emotion classification without exploring the potentials of putting emotion into "event context", and ignore the analysis of emotion-related events. One main reason is the lack of this kind of corpus. Here we present Cause-Emotion-Action Corpus, which manually annotates not only emotion, but also cause events and action events. We propose two new tasks based on the data-set: emotion causality and emotion inference. The first task is to extract a triple (cause, emotion, action). The second task is to infer the probable emotion. We are currently releasing the data-set with 10,603 samples and 15,892 events, basic statistic analysis and baseline on both emotion causality and emotion inference tasks. Baseline performance demonstrates that there is much room for both tasks to be improved.
We present recursive cascaded networks, a general architecture that enables learning deep cascades, for deformable image registration. The proposed architecture is simple in design and can be built on any base network. The moving image is warped successively by each cascade and finally aligned to the fixed image; this procedure is recursive in a way that every cascade learns to perform a progressive deformation for the current warped image. The entire system is end-to-end and jointly trained in an unsupervised manner. In addition, enabled by the recursive architecture, one cascade can be iteratively applied for multiple times during testing, which approaches a better fit between each of the image pairs. We evaluate our method on 3D medical images, where deformable registration is most commonly applied. We demonstrate that recursive cascaded networks achieve consistent, significant gains and outperform state-of-the-art methods. The performance reveals an increasing trend as long as more cascades are trained, while the limit is not observed. Our code will be made publicly available.
3D medical image registration is of great clinical importance. However, supervised learning methods require a large amount of accurately annotated corresponding control points (or morphing). The ground truth for 3D medical images is very difficult to obtain. Unsupervised learning methods ease the burden of manual annotation by exploiting unlabeled data without supervision. In this paper, we propose a new unsupervised learning method using convolutional neural networks under an end-to-end framework, Volume Tweening Network (VTN), to register 3D medical images. Three technical components ameliorate our unsupervised learning system for 3D end-to-end medical image registration: (1) We cascade the registration subnetworks; (2) We integrate affine registration into our network; and (3) We incorporate an additional invertibility loss into the training process. Experimental results demonstrate that our algorithm is 880x faster (or 3.3x faster without GPU acceleration) than traditional optimization-based methods and achieves state-of-the-art performance in medical image registration.