For the domain of self-driving and automatic parking, perception is a basic and critical technique, moreover, the detection of lane markings and parking slots is an important part of visual perception. Compared with front sight images, panoramic images(PI) can capture more comprehensive pavement information. However, the imbalance of different classes in PI is even more serious. Additionally, the judgment of boundary information between areas is a hard problem in deep models. Therefore, we propose a new model named DFNet to solve these problems. The proposed model has two main contributions, one is dynamic loss weights, and the other is residual fusion block(RFB). DFNet use dynamic loss weights to overcome the negative effect of imbalance dataset, which are calculated according to the pixel number of each class in a batch. RFB is composed of several convolutional layers, a pooling layer, and a fusion layer to combine the feature maps by pixel multiplication, which can reduce boundary information loss. We evaluate our method on PSV dataset, and the achieved advanced results demonstrate the effectiveness of the proposed model.
Deep learning has achieved far more accurate results than traditional methods on image processing. There are several works on lane makings and parking slots detection using deep learning on front sight images. J Kim and M Lee @cite_2 presented a robust lane detection method based on the combined convolutional neural network with random sample consensus algorithm; S @cite_25 proposed a unified end-to-end trainable multi-task network that jointly handles lane and road marking detection and recognition guided by a vanishing point; G @cite_7 proposed a decentralized and efficient solution for visual parking slots occupancy detection based on a deep convolutional neural network.
@cite_25 @cite_7 @cite_2
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In this paper, we introduce a robust lane detection method based on the combined convolutional neural network (CNN) with random sample consensus (RANSAC) algorithm. At first, we calculate edges in an image using a hat shape kernel and then detect lanes using the CNN combined with the RANSAC. If the road scene is simple, we can easily detect the lane by using the RANSAC algorithm only. But if the road scene is complex and includes roadside trees, fence, or intersection etc., then it is hard to detect lanes robustly because of noisy edges. To alleviate that problem, we use CNN in the lane detection before and after applying the RANSAC algorithm. In training process of CNN, input data consist of edge images in a region of interest (ROI) and target data become the images that have only drawn real white color lane in black background. The CNN structure consists of 8 layers with 3 convolutional layers, 2 subsampling layers and multi-layer perceptron (MLP) including 3 fully-connected layers. Convolutional and subsampling layers are hierarchically arranged and their arrangement represents a deep structure in deep learning. As a result, proposed lane detection algorithm successfully eliminates noise lines and the performance is found to be better than other formal line detection algorithms such as RANSAC and hough transform. We trained a convolutional neural network (CNN) to map raw pixels from a single front-facing camera directly to steering commands. This end-to-end approach proved surprisingly powerful. With minimum training data from humans the system learns to drive in traffic on local roads with or without lane markings and on highways. It also operates in areas with unclear visual guidance such as in parking lots and on unpaved roads. The system automatically learns internal representations of the necessary processing steps such as detecting useful road features with only the human steering angle as the training signal. We never explicitly trained it to detect, for example, the outline of roads. Compared to explicit decomposition of the problem, such as lane marking detection, path planning, and control, our end-to-end system optimizes all processing steps simultaneously. We argue that this will eventually lead to better performance and smaller systems. Better performance will result because the internal components self-optimize to maximize overall system performance, instead of optimizing human-selected intermediate criteria, e.g., lane detection. Such criteria understandably are selected for ease of human interpretation which doesn't automatically guarantee maximum system performance. Smaller networks are possible because the system learns to solve the problem with the minimal number of processing steps. We used an NVIDIA DevBox and Torch 7 for training and an NVIDIA DRIVE(TM) PX self-driving car computer also running Torch 7 for determining where to drive. The system operates at 30 frames per second (FPS). In this paper, a Deep Learning system for accurate road detection is proposed using the ResNet-101 network with a fully convolutional architecture and multiple upscaling steps for image interpolation. It is demonstrated that significant generalization gains in the learning process are attained by randomly generating augmented training data using several geometric transformations and pixelwise changes, such as affine and perspective transformations, mirroring, image cropping, distortions, blur, noise, and color changes. In addition, this paper shows that the use of a 4-step upscaling strategy provides optimal learning results as compared to other similar techniques that perform data upscaling based on shallow layers with scarce representation of the scene data. The complete system is trained and tested on data from the KITTI benchmark and besides it is also tested on images recorded on the Campus of the University of Alcala (Spain). The improvement attained after performing data augmentation and conducting a number of training variants is really encouraging, showing the path to follow for enhanced learning generalization of road detection systems with a view to real deployment in self-driving cars. Road detection from images is a key task in autonomous driving. The recent advent of deep learning (and in particular, CNN or convolutional neural networks) has greatly improved the performance of road detection algorithms. In this paper, we show how to fuse multiple different cues under the same convolutional network framework. Specifically, we adopt a pre-trained Resnet-lOl to extract feature maps from RGB images; we then connect it with three extra deconvolution layers. These deconvolution layers is trained conditioning on appropriate image cues, and in our case they are a height image (i.e. elevation map obtained by e.g. Lidar scanner), image gradient, and position map. We also design two skip layers to speed up the convergence. Experiments on KITTI benchmark show competitive performance of our new networks. Road detection from the perspective of moving vehicles is a challenging issue in autonomous driving. Recently, many deep learning methods spring up for this task because they can extract high-level local features to find road regions from raw RGB data, such as Convolutional Neural Networks (CNN) and Fully Convolutional Networks (FCN). However, how to detect the boundary of road accurately is still an intractable problem. In this paper, we propose a siamesed fully convolutional network (named as “s-FCN-loc”) based on VGG-net architecture, which is able to consider RGB-channel, semantic contour and location prior simultaneously to segment road region elaborately. To be specific, the s-FCN-loc has two streams to process original RGB images and contour maps respectively. At the same time, the location prior is directly appended to the last feature map to promote the final detection performance. Experiments demonstrate that the proposed s-FCN-loc can learn more discriminative features of road boundaries and converge 30 faster than the original FCN during the training stage. Finally, the proposed approach is evaluated on KITTI road detection benchmark, and achieves a competitive result. Like computer vision before, remote sensing has been radically changed by the introduction of deep learning and, more notably, Convolution Neural Networks. Land cover classification, object detection and scene understanding in aerial images rely more and more on deep networks to achieve new state-of-the-art results. Recent architectures such as Fully Convolutional Networks can even produce pixel level annotations for semantic mapping. In this work, we present a deep-learning based segment-before-detect method for segmentation and subsequent detection and classification of several varieties of wheeled vehicles in high resolution remote sensing images. This allows us to investigate object detection and classification on a complex dataset made up of visually similar classes, and to demonstrate the relevance of such a subclass modeling approach. Especially, we want to show that deep learning is also suitable for object-oriented analysis of Earth Observation data as effective object detection can be obtained as a byproduct of accurate semantic segmentation. First, we train a deep fully convolutional network on the ISPRS Potsdam and the NZAM ONERA Christchurch datasets and show how the learnt semantic maps can be used to extract precise segmentation of vehicles. Then, we show that those maps are accurate enough to perform vehicle detection by simple connected component extraction. This allows us to study the repartition of vehicles in the city. Finally, we train a Convolutional Neural Network to perform vehicle classification on the VEDAI dataset, and transfer its knowledge to classify the individual vehicle instances that we detected. Deep convolutional neural networks (CNN) have seen tremendous success in large-scale generic object recognition. In comparison with generic object recognition, fine-grained image classification (FGIC) is much more challenging because (i) fine-grained labeled data is much more expensive to acquire (usually requiring domain expertise); (ii) there exists large intra-class and small inter-class variance. Most recent work exploiting deep CNN for image recognition with small training data adopts a simple strategy: pre-train a deep CNN on a large-scale external dataset (e.g., ImageNet) and fine-tune on the small-scale target data to fit the specific classification task. In this paper, beyond the fine-tuning strategy, we propose a systematic framework of learning a deep CNN that addresses the challenges from two new perspectives: (i) identifying easily annotated hyper-classes inherent in the fine-grained data and acquiring a large number of hyper-class-labeled images from readily available external sources (e.g., image search engines), and formulating the problem into multitask learning; (ii) a novel learning model by exploiting a regularization between the fine-grained recognition model and the hyper-class recognition model. We demonstrate the success of the proposed framework on two small-scale fine-grained datasets (Stanford Dogs and Stanford Cars) and on a large-scale car dataset that we collected. Generative Adversarial Networks (GAN) have attracted much research attention recently, leading to impressive results for natural image generation. However, to date little success was observed in using GAN generated images for improving classification tasks. Here we attempt to explore, in the context of car license plate recognition, whether it is possible to generate synthetic training data using GAN to improve recognition accuracy. With a carefully-designed pipeline, we show that the answer is affirmative. First, a large-scale image set is generated using the generator of GAN, without manual annotation. Then, these images are fed to a deep convolutional neural network (DCNN) followed by a bidirectional recurrent neural network (BRNN) with long short-term memory (LSTM), which performs the feature learning and sequence labelling. Finally, the pre-trained model is fine-tuned on real images. Our experimental results on a few data sets demonstrate the effectiveness of using GAN images: an improvement of 7.5 over a strong baseline with moderate-sized real data being available. We show that the proposed framework achieves competitive recognition accuracy on challenging test datasets. We also leverage the depthwise separate convolution to construct a lightweight convolutional RNN, which is about half size and 2x faster on CPU. Combining this framework and the proposed pipeline, we make progress in performing accurate recognition on mobile and embedded devices. In this paper, we apply a convolutional neural network (CNN) to the tasks of detecting and recognizing food images. Because of the wide diversity of types of food, image recognition of food items is generally very difficult. However, deep learning has been shown recently to be a very powerful image recognition technique, and CNN is a state-of-the-art approach to deep learning. We applied CNN to the tasks of food detection and recognition through parameter optimization. We constructed a dataset of the most frequent food items in a publicly available food-logging system, and used it to evaluate recognition performance. CNN showed significantly higher accuracy than did traditional support-vector-machine-based methods with handcrafted features. In addition, we found that the convolution kernels show that color dominates the feature extraction process. For food image detection, CNN also showed significantly higher accuracy than a conventional method did. Deep convolutional neural networks have recently achieved state-of-the-art performance on a number of image recognition benchmarks, including the ImageNet Large-Scale Visual Recognition Challenge (ILSVRC-2012). The winning model on the localization sub-task was a network that predicts a single bounding box and a confidence score for each object category in the image. Such a model captures the whole-image context around the objects but cannot handle multiple instances of the same object in the image without naively replicating the number of outputs for each instance. In this work, we propose a saliency-inspired neural network model for detection, which predicts a set of class-agnostic bounding boxes along with a single score for each box, corresponding to its likelihood of containing any object of interest. The model naturally handles a variable number of instances for each class and allows for cross-class generalization at the highest levels of the network. We are able to obtain competitive recognition performance on VOC2007 and ILSVRC2012, while using only the top few predicted locations in each image and a small number of neural network evaluations. Deep convolutional neural networks have recently achieved state-of-the-art performance on a number of image recognition benchmarks, including the ImageNet Large-Scale Visual Recognition Challenge (ILSVRC-2012). The winning model on the localization sub-task was a network that predicts a single bounding box and a confidence score for each object category in the image. Such a model captures the whole-image context around the objects but cannot handle multiple instances of the same object in the image without naively replicating the number of outputs for each instance. In this work, we propose a saliency-inspired neural network model for detection, which predicts a set of class-agnostic bounding boxes along with a single score for each box, corresponding to its likelihood of containing any object of interest. The model naturally handles a variable number of instances for each class and allows for cross-class generalization at the highest levels of the network. We are able to obtain competitive recognition performance on VOC2007 and ILSVRC2012, while using only the top few predicted locations in each image and a small number of neural network evaluations. A significant weakness of most current deep Convolutional Neural Networks is the need to train them using vast amounts of manually labelled data. In this work we propose a unsupervised framework to learn a deep convolutional neural network for single view depth prediction, without requiring a pre-training stage or annotated ground-truth depths. We achieve this by training the network in a manner analogous to an autoencoder. At training time we consider a pair of images, source and target, with small, known camera motion between the two such as a stereo pair. We train the convolutional encoder for the task of predicting the depth map for the source image. To do so, we explicitly generate an inverse warp of the target image using the predicted depth and known inter-view displacement, to reconstruct the source image; the photometric error in the reconstruction is the reconstruction loss for the encoder. The acquisition of this training data is considerably simpler than for equivalent systems, requiring no manual annotation, nor calibration of depth sensor to camera. We show that our network trained on less than half of the KITTI dataset gives comparable performance to that of the state-of-the-art supervised methods for single view depth estimation. We propose a network for Congested Scene Recognition called CSRNet to provide a data-driven and deep learning method that can understand highly congested scenes and perform accurate count estimation as well as present high-quality density maps. The proposed CSRNet is composed of two major components: a convolutional neural network (CNN) as the front-end for 2D feature extraction and a dilated CNN for the back-end, which uses dilated kernels to deliver larger reception fields and to replace pooling operations. CSRNet is an easy-trained model because of its pure convolutional structure. We demonstrate CSRNet on four datasets (ShanghaiTech dataset, the UCF_CC_50 dataset, the WorldEXPO'10 dataset, and the UCSD dataset) and we deliver the state-of-the-art performance. In the ShanghaiTech Part_B dataset, CSRNet achieves 47.3 lower Mean Absolute Error (MAE) than the previous state-of-the-art method. We extend the targeted applications for counting other objects, such as the vehicle in TRANCOS dataset. Results show that CSRNet significantly improves the output quality with 15.4 lower MAE than the previous state-of-the-art approach. Deep learning has been demonstrated to achieve excellent results for image classification and object detection. However, the impact of deep learning on video analysis has been limited due to complexity of video data and lack of annotations. Previous convolutional neural networks (CNN) based video action detection approaches usually consist of two major steps: frame-level action proposal generation and association of proposals across frames. Also, most of these methods employ two-stream CNN framework to handle spatial and temporal feature separately. In this paper, we propose an end-to-end deep network called Tube Convolutional Neural Network (T-CNN) for action detection in videos. The proposed architecture is a unified deep network that is able to recognize and localize action based on 3D convolution features. A video is first divided into equal length clips and next for each clip a set of tube proposals are generated based on 3D Convolutional Network (ConvNet) features. Finally, the tube proposals of different clips are linked together employing network flow and spatio-temporal action detection is performed using these linked video proposals. Extensive experiments on several video datasets demonstrate the superior performance of T-CNN for classifying and localizing actions in both trimmed and untrimmed videos compared to state-of-the-arts. Deep convolutional neural networks (CNNs) have become a key element in the recent breakthrough of salient object detection. However, existing CNN-based methods are based on either patchwise (regionwise) training and inference or fully convolutional networks. Methods in the former category are generally time-consuming due to severe storage and computational redundancies among overlapping patches. To overcome this deficiency, methods in the second category attempt to directly map a raw input image to a predicted dense saliency map in a single network forward pass. Though being very efficient, it is arduous for these methods to detect salient objects of different scales or salient regions with weak semantic information. In this paper, we develop hybrid contrast-oriented deep neural networks to overcome the aforementioned limitations. Each of our deep networks is composed of two complementary components, including a fully convolutional stream for dense prediction and a segment-level spatial pooling stream for sparse saliency inference. We further propose an attentional module that learns weight maps for fusing the two saliency predictions from these two streams. A tailored alternate scheme is designed to train these deep networks by fine-tuning pretrained baseline models. Finally, a customized fully connected conditional random field model incorporating a salient contour feature embedding can be optionally applied as a postprocessing step to improve spatial coherence and contour positioning in the fused result from these two streams. Extensive experiments on six benchmark data sets demonstrate that our proposed model can significantly outperform the state of the art in terms of all popular evaluation metrics. In recent years, the widespread use of deep neural networks (DNNs) has facilitated great improvements in performance for computer vision tasks like image classification and object recognition. In most realistic computer vision applications, an input image undergoes some form of image distortion such as blur and additive noise during image acquisition or transmission. Deep networks trained on pristine images perform poorly when tested on such distortions. In this paper, we evaluate the effect of image distortions like Gaussian blur and additive noise on the activations of pre-trained convolutional filters. We propose a metric to identify the most noise susceptible convolutional filters and rank them in order of the highest gain in classification accuracy upon correction. In our proposed approach called DeepCorrect , we apply small stacks of convolutional layers with residual connections at the output of these ranked filters and train them to correct the worst distortion affected filter activations, while leaving the rest of the pre-trained filter outputs in the network unchanged. Performance results show that applying DeepCorrect models for common vision tasks like image classification (ImageNet), object recognition (Caltech-101, Caltech-256), and scene classification (SUN-397), significantly improves the robustness of DNNs against distorted images and outperforms other alternative approaches. Recent advances in deep learning have shown exciting promise in filling large holes in natural images with semantically plausible and context aware details, impacting fundamental image manipulation tasks such as object removal. While these learning-based methods are significantly more effective in capturing high-level features than prior techniques, they can only handle very low-resolution inputs due to memory limitations and difficulty in training. Even for slightly larger images, the inpainted regions would appear blurry and unpleasant boundaries become visible. We propose a multi-scale neural patch synthesis approach based on joint optimization of image content and texture constraints, which not only preserves contextual structures but also produces high-frequency details by matching and adapting patches with the most similar mid-layer feature correlations of a deep classification network. We evaluate our method on the ImageNet and Paris Streetview datasets and achieved state-of-the-art inpainting accuracy. We show our approach produces sharper and more coherent results than prior methods, especially for high-resolution images. Recent advances in deep learning have shown exciting promise in filling large holes in natural images with semantically plausible and context aware details, impacting fundamental image manipulation tasks such as object removal. While these learning-based methods are significantly more effective in capturing high-level features than prior techniques, they can only handle very low-resolution inputs due to memory limitations and difficulty in training. Even for slightly larger images, the inpainted regions would appear blurry and unpleasant boundaries become visible. We propose a multi-scale neural patch synthesis approach based on joint optimization of image content and texture constraints, which not only preserves contextual structures but also produces high-frequency details by matching and adapting patches with the most similar mid-layer feature correlations of a deep classification network. We evaluate our method on the ImageNet and Paris Streetview datasets and achieved state-of-the-art inpainting accuracy. We show our approach produces sharper and more coherent results than prior methods, especially for high-resolution images. In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are generated. By considering a top-view representation, road detection is reduced to a single-scale problem that can be addressed with a simple and fast fully convolutional neural network (FCN). The FCN is specifically designed for the task of pixel-wise semantic segmentation by combining a large receptive field with high-resolution feature maps. The proposed system achieved excellent performance and it is among the top-performing algorithms on the KITTI road benchmark. Its fast inference makes it particularly suitable for real-time applications. In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are generated. By considering a top-view representation, road detection is reduced to a single-scale problem that can be addressed with a simple and fast fully convolutional neural network (FCN). The FCN is specifically designed for the task of pixel-wise semantic segmentation by combining a large receptive field with high-resolution feature maps. The proposed system achieved excellent performance and it is among the top-performing algorithms on the KITTI road benchmark. Its fast inference makes it particularly suitable for real-time applications.