Nec Corporation

Buyu Liu

Manmohan Chandraker

Yi-Hsuan Tsai

Kihyuk Sohn

Samuel Schulter

Bingbing Zhuang

Jong-Chyi Su

Ramin Moslemi

Pan Ji

Sriram Nochur Narayanan

Francesco Pittaluga

Xiang Yu

Paul Vernaza

Quoc-Huy Tran

Sparsh Garg

Xiangyu Chen

Junru Wu

Nanbo Li

Inkyu Shin

Ziyan Wang

A method for driving path prediction is provided. The method concatenates past trajectory features and lane centerline features in a channel dimension at an agent's respective location in a top view map to obtain concatenated features thereat. The method obtains convolutional features derived from the top view map, the concatenated features, and a single representation of the training scene the vehicle and agent interactions. The method extracts hypercolumn descriptor vectors which include the convolutional features from the agent's respective location in the top view map. The method obtains primary and auxiliary trajectory predictions from the hypercolumn descriptor vectors. The method generates a respective score for each of the primary and auxiliary trajectory predictions. The method trains a vehicle trajectory prediction neural network using a reconstruction loss, a regularization loss objective, and an IOC loss objective responsive to the respective score for each of the primary and auxiliary trajectory predictions.

Divide-and-conquer for lane-aware diverse trajectory prediction

Systems and methods are provided for multi-modal test-time adaptation. The method includes inputting a digital image into a pre-trained Camera Intra-modal Pseudo-label Generator, and inputting a point cloud set into a pre-trained Lidar Intra-modal Pseudo-label Generator. The method further includes applying a fast 2-dimension (2D) model, and a slow 2D model, to the inputted digital image to apply pseudo-labels, and applying a fast 3-dimension (3D) model, and a slow 3D model, to the inputted point cloud set to apply pseudo-labels. The method further includes fusing pseudo-label predictions from the fast models and the slow models through an Inter-modal Pseudo-label Refinement module to obtain robust pseudo labels, and measuring a prediction consistency for the pseudo-labels. The method further includes selecting confident pseudo-labels from the robust pseudo labels and measured prediction consistencies to form a final cross-modal pseudo-label set as a self-training signal, and updating batch parameters utilizing the self-training signal.

Multi-modal test-time adaptation

A computer-implemented method for road layout prediction is provided. The method includes segmenting, by a first processor-based element, an RGB image to output pixel-level semantic segmentation results for the RGB image in a perspective view for both visible and occluded pixels in the perspective view based on contextual clues. The method further includes learning, by a second processor-based element, a mapping from the pixel-level semantic segmentation results for the RGB image in the perspective view to a top view of the RGB image using a road plane assumption. The method also includes generating, by a third processor-based element, an occlusion-aware parametric road layout prediction for road layout related attributes in the top view.

End-to-end parametric road layout prediction with cheap supervision

A method for achieving high-fidelity novel view synthesis and 3D reconstruction for large-scale scenes is presented. The method includes obtaining images from a video stream received from a plurality of video image capturing devices, grouping the images into different image clusters representing a large-scale 3D scene, training a neural radiance field (NeRF) and an uncertainty multilayer perceptron (MLP) for each of the image clusters to generate a plurality of NeRFs and a plurality of uncertainty MLPs for the large-scale 3D scene, applying a rendering loss and an entropy loss to the plurality of NeRFs, performing uncertainty-based fusion to the plurality of NeRFs to define a fused NeRF, and jointly fine-tuning the plurality of NeRFs and the plurality of uncertainty MLPs, and during inference, applying the fused NeRF for novel view synthesis of the large-scale 3D scene.

Uncertainty-aware fusion towards large-scale NeRF

A method provided for 3D object localization predicts pairs of 2D bounding boxes. Each pair corresponds to a detected object in each of the two consecutive input monocular images. The method generates, for each detected object, a relative motion estimation specifying a relative motion between the two images. The method constructs an object cost volume by aggregating temporal features from the two images using the pairs of 2D bounding boxes and the relative motion estimation to predict a range of object depth candidates and a confidence score for each object depth candidate and an object depth from the object depth candidates. The method updates the relative motion estimation based on the object cost volume and the object depth to provide a refined object motion and a refined object depth. The method reconstructs a 3D bounding box for each detected object based on the refined object motion and refined object depth.

Monocular 3D object localization from temporal aggregation

Methods and systems for training a trajectory prediction model and performing a vehicle maneuver include encoding a set of training data to generate encoded training vectors, where the training data includes trajectory information for agents over time. Trajectory scenarios are simulated based on the encoded training vectors, with each simulated trajectory scenario representing one or more agents with respective agent trajectories, to generate simulated training data. A predictive neural network model is trained using the simulated training data to generate predicted trajectory scenarios based on a detected scene.

Multi-agent trajectory prediction

Systems and methods for human detection are provided. The system aligns image level features between a source domain and a target domain based on an adversarial learning process while training a domain discriminator. The target domain includes humans in one or more different scenes. The system selects, using the domain discriminator, unlabeled samples from the target domain that are far away from existing annotated samples from the target domain. The system selects, based on a prediction score of each of the unlabeled samples, samples with lower prediction scores. The system annotates the samples with the lower prediction scores.

Human detection in scenes

Systems and methods for lane marking and road sign recognition are provided. The system aligns image level features between a source domain and a target domain based on an adversarial learning process while training a domain discriminator. The target domain includes one or more road scenes having lane markings and road signs. The system selects, using the domain discriminator, unlabeled samples from the target domain that are far away from existing annotated samples from the target domain. The system selects, based on a prediction score of each of the unlabeled samples, samples with lower prediction scores. The system annotates the samples with the lower prediction scores.

Segmentation to determine lane markings and road signs

Systems and methods for obstacle detection are provided. The system aligns image level features between a source domain and a target domain based on an adversarial learning process while training a domain discriminator. The target domain includes one or more road scenes having obstacles. The system selects, using the domain discriminator, unlabeled samples from the target domain that are far away from existing annotated samples from the target domain. The system selects, based on a prediction score of each of the unlabeled samples, samples with lower prediction scores. The system annotates the samples with the lower prediction scores.

Obstacle detection in road scenes

Systems and methods for construction zone segmentation are provided. The system aligns image level features between a source domain and a target domain based on an adversarial learning process while training a domain discriminator. The target domain includes construction zones scenes having various objects. The system selects, using the domain discriminator, unlabeled samples from the target domain that are far away from existing annotated samples from the target domain. The system selects, based on a prediction score of each of the unlabeled samples, samples with lower prediction scores. The system annotates the samples with the lower prediction scores.

Construction zone segmentation

A method is provided in an Advanced Driver-Assistance System (ADAS). The method extracts, from an input video stream including a plurality of images using a multi-task Convolutional Neural Network (CNN), shared features across different perception tasks. The perception tasks include object detection and other perception tasks. The method concurrently solves, using the multi-task CNN, the different perception tasks in a single pass by concurrently processing corresponding ones of the shared features by respective different branches of the multi-task CNN to provide a plurality of different perception task outputs. Each respective different branch corresponds to a respective one of the different perception tasks. The method forms a parametric representation of a driving scene as at least one top-view map responsive to the plurality of different perception task outputs. The method controls an operation of the vehicle for collision avoidance responsive to the at least one top-view map indicating an impending collision.

Multi-task perception network with applications to scene understanding and advanced driver-assistance system

Systems and methods are provided for producing a road layout model. The method includes capturing digital images having a perspective view, converting each of the digital images into top-down images, and conveying a top-down image of time t to a neural network that performs a feature transform to form a feature map of time t. The method also includes transferring the feature map of the top-down image of time t to a feature transform module to warp the feature map to a time t+1, and conveying a top-down image of time t+1 to form a feature map of time t+1. The method also includes combining the warped feature map of time t with the feature map of time t+1 to form a combined feature map, transferring the combined feature map to a long short-term memory (LSTM) module to generate the road layout model, and displaying the road layout model.

Parametric top-view representation of complex road scenes

A method for implementing parametric models for scene representation to improve autonomous task performance includes generating an initial map of a scene based on at least one image corresponding to a perspective view of the scene, the initial map including a non-parametric top-view representation of the scene, implementing a parametric model to obtain a scene element representation based on the initial map, the scene element representation providing a description of one or more scene elements of the scene and corresponding to an estimated semantic layout of the scene, identifying one or more predicted locations of the one or more scene elements by performing three-dimensional localization based on the at least one image, and obtaining an overlay for performing an autonomous task by placing the one or more scene elements with the one or more respective predicted locations onto the scene element representation.

Parametric top-view representation of scenes

A computer-implemented method for implementing face spoofing detection using a physical-cue-guided multi-source multi-channel framework includes receiving a set of data including face recognition data, liveness data and material data associated with at least one face image, obtaining a shared feature from the set of data using a backbone neural network structure, performing, based on the shared feature, a pretext task corresponding to face recognition, a first proxy task corresponding to depth estimation, a liveness detection task, and a second proxy task corresponding to material prediction, and aggregating outputs of the pretext task, the first proxy task, the liveness detection task and the second proxy task using an attention mechanism to boost face spoofing detection performance.

Face spoofing detection using a physical-cue-guided multi-source multi-channel framework

Systems and methods for domain adaptation are provided. The system aligns image level features between a source domain and a target domain based on an adversarial learning process while training a domain discriminator. The system selects, using the domain discriminator, unlabeled samples from the target domain that are far away from existing annotated samples from the target domain. The system selects, based on a prediction score of each of the unlabeled samples, samples with lower prediction scores. The system annotates the samples with the lower prediction scores.

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Cupertino, CA, United States of America

Buyu Liu