Pose-Guided Graph Convolutional Networks for Skeleton-Based Action Recognition

Graph convolutional networks (GCNs), which can model the human body skeletons as spatial and temporal graphs, have shown remarkable potential in skeleton-based action recognition. However, in the existing GCN-based methods, graph-structured representation of the human skeleton makes it difficult to be fused with other modalities, especially in the early stages. This may limit their scalability and performance in action recognition tasks. In addition, the pose information, which naturally contains informative and discriminative clues for action recognition, is rarely explored together with skeleton data in existing methods. In this work, we propose pose-guided GCN (PG-GCN), a multi-modal framework for high-performance human action recognition. In particular, a multi-stream network is constructed to simultaneously explore the robust features from both the pose and skeleton data, while a dynamic attention module is designed for early-stage feature fusion. The core idea of this module is to utilize a trainable graph to aggregate features from the skeleton stream with that of the pose stream, which leads to a network with more robust feature representation ability. Extensive experiments show that the proposed PG-GCN can achieve state-of-the-art performance on the NTU RGB+D 60 and NTU RGB+D 120 datasets.

Knowledge Augmented Machine Learning with Applications in Autonomous Driving: A Survey

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

Action Recognition with Domain Invariant Features of Skeleton Image

Due to the fast processing-speed and robustness it can achieve, skeleton-based action recognition has recently received the attention of the computer vision community. The recent Convolutional Neural Network (CNN)-based methods have shown commendable performance in learning spatio-temporal representations for skeleton sequence, which use skeleton image as input to a CNN. Since the CNN-based methods mainly encoding the temporal and skeleton joints simply as rows and columns, respectively, the latent correlation related to all joints may be lost caused by the 2D convolution. To solve this problem, we propose a novel CNN-based method with adversarial training for action recognition. We introduce a two-level domain adversarial learning to align the features of skeleton images from different view angles or subjects, respectively, thus further improve the generalization. We evaluated our proposed method on NTU RGB+D. It achieves competitive results compared with state-of-the-art methods and 2.4$\%$, 1.9$\%$ accuracy gain than the baseline for cross-subject and cross-view.

A Fast Planning Approach for 3D Short Trajectory with a Parallel Framework

For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this problem, we present a framework with the map planner and point cloud planner running in parallel in this paper. The map planner determines the initial path using the improved jump point search method on the 2D map, and then it tries to optimize the path by considering a possible shorter 3D path. The point cloud planner is executed at a high frequency to generate the motion primitives. It makes the drone follow the solved path and avoid the suddenly appearing obstacles nearby. Thus, vehicles can achieve a short trajectory while reacting quickly to the intruding obstacles. We demonstrate fully autonomous quadrotor flight tests in unknown and complex environments with static and dynamic obstacles to validate the proposed method. In simulation and hardware experiments, the proposed framework shows satisfactorily comprehensive performance.

Real-time Identification and Simultaneous Avoidance of Static and Dynamic Obstacles on Point Cloud for UAVs Navigation

Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles from static ones with only point cloud input. Then, to achieve dynamic avoidance, we propose the forbidden pyramids method to solve the desired vehicle velocity with an efficient sampling-based method in iteration. The motion primitives are generated by solving a nonlinear optimization problem with the constraint of desired velocity and the waypoint. Furthermore, we present several techniques to deal with the position estimation error for close objects, the error for deformable objects, and the time gap between different submodules. The proposed approach is implemented to run onboard in real-time and validated extensively in simulation and hardware tests, demonstrating our superiority in tracking robustness, energy cost, and calculating time.

A Teacher-Student Framework with Fourier Augmentation for COVID-19 Infection Segmentation in CT Images

Automatic segmentation of infected regions in computed tomography (CT) images is necessary for the initial diagnosis of COVID-19. Deep-learning-based methods have the potential to automate this task but require a large amount of data with pixel-level annotations. Training a deep network with annotated lung cancer CT images, which are easier to obtain, can alleviate this problem to some extent. However, this approach may suffer from a reduction in performance when applied to unseen COVID-19 images during the testing phase due to the domain shift. In this paper, we propose a novel unsupervised method for COVID-19 infection segmentation that aims to learn the domain-invariant features from lung cancer and COVID-19 images to improve the generalization ability of the segmentation network for use with COVID-19 CT images. To overcome the intensity shift, our method first transforms annotated lung cancer data into the style of unlabeled COVID-19 data using an effective augmentation approach via a Fourier transform. Furthermore, to reduce the distribution shift, we design a teacher-student network to learn rotation-invariant features for segmentation. Experiments demonstrate that even without getting access to the annotations of COVID-19 CT during training, the proposed network can achieve a state-of-the-art segmentation performance on COVID-19 images.

DFGC 2021: A DeepFake Game Competition

This paper presents a summary of the DFGC 2021 competition. DeepFake technology is developing fast, and realistic face-swaps are increasingly deceiving and hard to detect. At the same time, DeepFake detection methods are also improving. There is a two-party game between DeepFake creators and detectors. This competition provides a common platform for benchmarking the adversarial game between current state-of-the-art DeepFake creation and detection methods. In this paper, we present the organization, results and top solutions of this competition and also share our insights obtained during this event. We also release the DFGC-21 testing dataset collected from our participants to further benefit the research community.

Identification and Avoidance of Static and Dynamic Obstacles on Point Cloud for UAVs Navigation

Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a technique to distinguish dynamic obstacles from static ones with only point cloud input. Then, a computationally efficient obstacle avoidance motion planning approach is proposed and it is in line with an improved relative velocity method. The approach is able to avoid both static obstacles and dynamic ones in the same framework. For static and dynamic obstacles, the collision check and motion constraints are different, and they are integrated into one framework efficiently. In addition, we present several techniques to improve the algorithm performance and deal with the time gap between different submodules. The proposed approach is implemented to run onboard in real-time and validated extensively in simulation and hardware tests. Our average single step calculating time is less than 20 ms.

Few-shot Learning for CT Scan based COVID-19 Diagnosis

Coronavirus disease 2019 (COVID-19) is a Public Health Emergency of International Concern infecting more than 40 million people across 188 countries and territories. Chest computed tomography (CT) imaging technique benefits from its high diagnostic accuracy and robustness, it has become an indispensable way for COVID-19 mass testing. Recently, deep learning approaches have become an effective tool for automatic screening of medical images, and it is also being considered for COVID-19 diagnosis. However, the high infection risk involved with COVID-19 leads to relative sparseness of collected labeled data limiting the performance of such methodologies. Moreover, accurately labeling CT images require expertise of radiologists making the process expensive and time-consuming. In order to tackle the above issues, we propose a supervised domain adaption based COVID-19 CT diagnostic method which can perform effectively when only a small samples of labeled CT scans are available. To compensate for the sparseness of labeled data, the proposed method utilizes a large amount of synthetic COVID-19 CT images and adjusts the networks from the source domain (synthetic data) to the target domain (real data) with a cross-domain training mechanism. Experimental results show that the proposed method achieves state-of-the-art performance on few-shot COVID-19 CT imaging based diagnostic tasks.

Design and Implementation of Curriculum System Based on Knowledge Graph

With the fact that the knowledge in each field in university is keeping increasing, the number of university courses is becoming larger, and the content and curriculum system is becoming much more complicated than it used to be, which bring many inconveniences to the course arrangement and analysis. In this paper, we aim to construct a method to visualize all courses based on Google Knowledge Graph. By analysing the properties of the courses and their preceding requirements, we want to extract the relationship between the precursors and the successors, so as to build the knowledge graph of the curriculum system. Using the graph database Neo4j [7] as the core aspect for data storage and display for our new curriculum system will be our approach to implement our knowledge graph. Based on this graph, the venation relationship between courses can be clearly analysed, and some difficult information can be obtained, which can help to combine the outline of courses and the need to quickly query the venation information of courses.