Self-Supervised Image-to-Point Distillation via Semantically Tolerant Contrastive Loss

An effective framework for learning 3D representations for perception tasks is distilling rich self-supervised image features via contrastive learning. However, image-to point representation learning for autonomous driving datasets faces two main challenges: 1) the abundance of self-similarity, which results in the contrastive losses pushing away semantically similar point and image regions and thus disturbing the local semantic structure of the learned representations, and 2) severe class imbalance as pretraining gets dominated by over-represented classes. We propose to alleviate the self-similarity problem through a novel semantically tolerant image-to-point contrastive loss that takes into consideration the semantic distance between positive and negative image regions to minimize contrasting semantically similar point and image regions. Additionally, we address class imbalance by designing a class-agnostic balanced loss that approximates the degree of class imbalance through an aggregate sample-to-samples semantic similarity measure. We demonstrate that our semantically-tolerant contrastive loss with class balancing improves state-of-the art 2D-to-3D representation learning in all evaluation settings on 3D semantic segmentation. Our method consistently outperforms state-of-the-art 2D-to-3D representation learning frameworks across a wide range of 2D self-supervised pretrained models.

Estimating Regression Predictive Distributions with Sample Networks

Estimating the uncertainty in deep neural network predictions is crucial for many real-world applications. A common approach to model uncertainty is to choose a parametric distribution and fit the data to it using maximum likelihood estimation. The chosen parametric form can be a poor fit to the data-generating distribution, resulting in unreliable uncertainty estimates. In this work, we propose SampleNet, a flexible and scalable architecture for modeling uncertainty that avoids specifying a parametric form on the output distribution. SampleNets do so by defining an empirical distribution using samples that are learned with the Energy Score and regularized with the Sinkhorn Divergence. SampleNets are shown to be able to well-fit a wide range of distributions and to outperform baselines on large-scale real-world regression tasks.

Bayesian Embeddings for Few-Shot Open World Recognition

As autonomous decision-making agents move from narrow operating environments to unstructured worlds, learning systems must move from a closed-world formulation to an open-world and few-shot setting in which agents continuously learn new classes from small amounts of information. This stands in stark contrast to modern machine learning systems that are typically designed with a known set of classes and a large number of examples for each class. In this work we extend embedding-based few-shot learning algorithms to the open-world recognition setting. We combine Bayesian non-parametric class priors with an embedding-based pre-training scheme to yield a highly flexible framework which we refer to as few-shot learning for open world recognition (FLOWR). We benchmark our framework on open-world extensions of the common MiniImageNet and TieredImageNet few-shot learning datasets. Our results show, compared to prior methods, strong classification accuracy performance and up to a 12% improvement in H-measure (a measure of novel class detection) from our non-parametric open-world few-shot learning scheme.

Categorical Depth Distribution Network for Monocular 3D Object Detection

Monocular 3D object detection is a key problem for autonomous vehicles, as it provides a solution with simple configuration compared to typical multi-sensor systems. The main challenge in monocular 3D detection lies in accurately predicting object depth, which must be inferred from object and scene cues due to the lack of direct range measurement. Many methods attempt to directly estimate depth to assist in 3D detection, but show limited performance as a result of depth inaccuracy. Our proposed solution, Categorical Depth Distribution Network (CaDDN), uses a predicted categorical depth distribution for each pixel to project rich contextual feature information to the appropriate depth interval in 3D space. We then use the computationally efficient bird's-eye-view projection and single-stage detector to produce the final output bounding boxes. We design CaDDN as a fully differentiable end-to-end approach for joint depth estimation and object detection. We validate our approach on the KITTI 3D object detection benchmark, where we rank 1st among published monocular methods. We also provide the first monocular 3D detection results on the newly released Waymo Open Dataset. The source code for CaDDN will be made publicly available before publication.

Estimating and Evaluating Regression Predictive Uncertainty in Deep Object Detectors

Predictive uncertainty estimation is an essential next step for the reliable deployment of deep object detectors in safety-critical tasks. In this work, we focus on estimating predictive distributions for bounding box regression output with variance networks. We show that in the context of object detection, training variance networks with negative log likelihood (NLL) can lead to high entropy predictive distributions regardless of the correctness of the output mean. We propose to use the energy score as a non-local proper scoring rule and find that when used for training, the energy score leads to better calibrated and lower entropy predictive distributions than NLL. We also address the widespread use of non-proper scoring metrics for evaluating predictive distributions from deep object detectors by proposing an alternate evaluation approach founded on proper scoring rules. Using the proposed evaluation tools, we show that although variance networks can be used to produce high quality predictive distributions, ad-hoc approaches used by seminal object detectors for choosing regression targets during training do not provide wide enough data support for reliable variance learning. We hope that our work helps shift evaluation in probabilistic object detection to better align with predictive uncertainty evaluation in other machine learning domains. Code for all models, evaluation, and datasets is available at: https://github.com/asharakeh/probdet.git.

A Review and Comparative Study on Probabilistic Object Detection in Autonomous Driving

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed. However, there is no summary on uncertainty estimation in deep object detection, and existing methods are not only built with different network architectures and uncertainty estimation methods, but also evaluated on different datasets with a wide range of evaluation metrics. As a result, a comparison among methods remains challenging, as does the selection of a model that best suits a particular application. This paper aims to alleviate this problem by providing a review and comparative study on existing probabilistic object detection methods for autonomous driving applications. First, we provide an overview of generic uncertainty estimation in deep learning, and then systematically survey existing methods and evaluation metrics for probabilistic object detection. Next, we present a strict comparative study for probabilistic object detection based on an image detector and three public autonomous driving datasets. Finally, we present a discussion of the remaining challenges and future works. Code has been made available at https://github.com/asharakeh/pod_compare.git

BayesOD: A Bayesian Approach for Uncertainty Estimation in Deep Object Detectors

One of the challenging aspects of incorporating deep neural networks into robotic systems is the lack of uncertainty measures associated with their output predictions. Recent work has identified aleatoric and epistemic as two types of uncertainty in the output of deep neural networks, and provided methods for their estimation. However, these methods have had limited success when applied to the object detection task. This paper introduces, BayesOD, a Bayesian approach for estimating the uncertainty in the output of deep object detectors, which reformulates the neural network inference and Non-Maximum suppression components of standard object detectors from a Bayesian perspective. As a result, BayesOD provides uncertainty estimates associated with detected object instances, which allows the deep object detector to be treated as any other sensor in a robotic system. BayesOD is shown to be capable of reliably identifying erroneous detection output instances using their estimated uncertainty measure. The estimated uncertainty measures are also shown to be better correlated with the correctness of a detection than the state of the art methods available in literature.

A Hierarchical Deep Architecture and Mini-Batch Selection Method For Joint Traffic Sign and Light Detection

Traffic light and sign detectors on autonomous cars are integral for road scene perception. The literature is abundant with deep learning networks that detect either lights or signs, not both, which makes them unsuitable for real-life deployment due to the limited graphics processing unit (GPU) memory and power available on embedded systems. The root cause of this issue is that no public dataset contains both traffic light and sign labels, which leads to difficulties in developing a joint detection framework. We present a deep hierarchical architecture in conjunction with a mini-batch proposal selection mechanism that allows a network to detect both traffic lights and signs from training on separate traffic light and sign datasets. Our method solves the overlapping issue where instances from one dataset are not labelled in the other dataset. We are the first to present a network that performs joint detection on traffic lights and signs. We measure our network on the Tsinghua-Tencent 100K benchmark for traffic sign detection and the Bosch Small Traffic Lights benchmark for traffic light detection and show it outperforms the existing Bosch Small Traffic light state-of-the-art method. We focus on autonomous car deployment and show our network is more suitable than others because of its low memory footprint and real-time image processing time. Qualitative results can be viewed at https://youtu.be/_YmogPzBXOw

Leveraging Pre-Trained 3D Object Detection Models For Fast Ground Truth Generation

Training 3D object detectors for autonomous driving has been limited to small datasets due to the effort required to generate annotations. Reducing both task complexity and the amount of task switching done by annotators is key to reducing the effort and time required to generate 3D bounding box annotations. This paper introduces a novel ground truth generation method that combines human supervision with pretrained neural networks to generate per-instance 3D point cloud segmentation, 3D bounding boxes, and class annotations. The annotators provide object anchor clicks which behave as a seed to generate instance segmentation results in 3D. The points belonging to each instance are then used to regress object centroids, bounding box dimensions, and object orientation. Our proposed annotation scheme requires 30x lower human annotation time. We use the KITTI 3D object detection dataset to evaluate the efficiency and the quality of our annotation scheme. We also test the the proposed scheme on previously unseen data from the Autonomoose self-driving vehicle to demonstrate generalization capabilities of the network.