Dynamic Risk Assessment Methodology with an LDM-based System for Parking Scenarios

This paper describes the methodology for building a dynamic risk assessment for ADAS (Advanced Driving Assistance Systems) algorithms in parking scenarios, fusing exterior and interior perception for a better understanding of the scene and a more comprehensive risk estimation. This includes the definition of a dynamic risk methodology that depends on the situation from inside and outside the vehicle, the creation of a multi-sensor dataset of risk assessment for ADAS benchmarking purposes, and a Local Dynamic Map (LDM) that fuses data from the exterior and interior of the car to build an LDM-based Dynamic Risk Assessment System (DRAS).

Automatic UAV-based Airport Pavement Inspection Using Mixed Real and Virtual Scenarios

Runway and taxiway pavements are exposed to high stress during their projected lifetime, which inevitably leads to a decrease in their condition over time. To make sure airport pavement condition ensure uninterrupted and resilient operations, it is of utmost importance to monitor their condition and conduct regular inspections. UAV-based inspection is recently gaining importance due to its wide range monitoring capabilities and reduced cost. In this work, we propose a vision-based approach to automatically identify pavement distress using images captured by UAVs. The proposed method is based on Deep Learning (DL) to segment defects in the image. The DL architecture leverages the low computational capacities of embedded systems in UAVs by using an optimised implementation of EfficientNet feature extraction and Feature Pyramid Network segmentation. To deal with the lack of annotated data for training we have developed a synthetic dataset generation methodology to extend available distress datasets. We demonstrate that the use of a mixed dataset composed of synthetic and real training images yields better results when testing the training models in real application scenarios.

LiDAR-based curb detection for ground truth annotation in automated driving validation

Curb detection is essential for environmental awareness in Automated Driving (AD), as it typically limits drivable and non-drivable areas. Annotated data are necessary for developing and validating an AD function. However, the number of public datasets with annotated point cloud curbs is scarce. This paper presents a method for detecting 3D curbs in a sequence of point clouds captured from a LiDAR sensor, which consists of two main steps. First, our approach detects the curbs at each scan using a segmentation deep neural network. Then, a sequence-level processing step estimates the 3D curbs in the reconstructed point cloud using the odometry of the vehicle. From these 3D points of the curb, we obtain polylines structured following ASAM OpenLABEL standard. These detections can be used as pre-annotations in labelling pipelines to efficiently generate curb-related ground truth data. We validate our approach through an experiment in which different human annotators were required to annotate curbs in a group of LiDAR-based sequences with and without our automatically generated pre-annotations. The results show that the manual annotation time is reduced by 50.99% thanks to our detections, keeping the data quality level.

Virtual passengers for real car solutions: synthetic datasets

Strategies that include the generation of synthetic data are beginning to be viable as obtaining real data can be logistically complicated, very expensive or slow. Not only the capture of the data can lead to complications, but also its annotation. To achieve high-fidelity data for training intelligent systems, we have built a 3D scenario and set-up to resemble reality as closely as possible. With our approach, it is possible to configure and vary parameters to add randomness to the scene and, in this way, allow variation in data, which is so important in the construction of a dataset. Besides, the annotation task is already included in the data generation exercise, rather than being a post-capture task, which can save a lot of resources. We present the process and concept of synthetic data generation in an automotive context, specifically for driver and passenger monitoring purposes, as an alternative to real data capturing.

RTMaps-based Local Dynamic Map for multi-ADAS data fusion

Work on Local Dynamic Maps (LDM) implementation is still in its early stages, as the LDM standards only define how information shall be structured in databases, while the mechanism to fuse or link information across different layers is left undefined. A working LDM component, as a real-time database inside the vehicle is an attractive solution to multi-ADAS systems, which may feed a real-time LDM database that serves as a central point of information inside the vehicle, exposing fused and structured information to other components (e.g., decision-making systems). In this paper we describe our approach implementing a real-time LDM component using the RTMaps middleware, as a database deployed in a vehicle, but also at road-side units (RSU), making use of the three pillars that guide a successful fusion strategy: utilisation of standards (with conversions between domains), middlewares to unify multiple ADAS sources, and linkage of data via semantic concepts.

5G Features and Standards for Vehicle Data Exploitation

Cars capture and generate huge volumes of data in real-time about the driving dynamics, the environment, and the driver and passengers' activities. Due to the proliferation of cooperative, connected and automated mobility (CCAM), the value of data from vehicles is getting strategic, not just for the automotive industry, but also for many diverse stakeholders including small and medium-sized enterprises (SMEs) and start-ups. 5G can enable car-captured data to feed innovative applications and services deployed in the cloud ensuring lower latency and higher throughput than previous cellular technologies. This paper identifies and discusses the relevance of the main 5G features that can contribute to a scalable, flexible, reliable and secure data pipeline, pointing to the standards and technical reports that specify their implementation.

MFR 2021: Masked Face Recognition Competition

This paper presents a summary of the Masked Face Recognition Competitions (MFR) held within the 2021 International Joint Conference on Biometrics (IJCB 2021). The competition attracted a total of 10 participating teams with valid submissions. The affiliations of these teams are diverse and associated with academia and industry in nine different countries. These teams successfully submitted 18 valid solutions. The competition is designed to motivate solutions aiming at enhancing the face recognition accuracy of masked faces. Moreover, the competition considered the deployability of the proposed solutions by taking the compactness of the face recognition models into account. A private dataset representing a collaborative, multi-session, real masked, capture scenario is used to evaluate the submitted solutions. In comparison to one of the top-performing academic face recognition solutions, 10 out of the 18 submitted solutions did score higher masked face verification accuracy.

Boosting Masked Face Recognition with Multi-Task ArcFace

In this paper, we address the problem of face recognition with masks. Given the global health crisis caused by COVID-19, mouth and nose-covering masks have become an essential everyday-clothing-accessory. This sanitary measure has put the state-of-the-art face recognition models on the ropes since they have not been designed to work with masked faces. In addition, the need has arisen for applications capable of detecting whether the subjects are wearing masks to control the spread of the virus. To overcome these problems a full training pipeline is presented based on the ArcFace work, with several modifications for the backbone and the loss function. From the original face-recognition dataset, a masked version is generated using data augmentation, and both datasets are combined during the training process. The selected network, based on ResNet-50, is modified to also output the probability of mask usage without adding any computational cost. Furthermore, the ArcFace loss is combined with the mask-usage classification loss, resulting in a new function named Multi-Task ArcFace (MTArcFace). Experimental results show that the proposed approach highly boosts the original model accuracy when dealing with masked faces, while preserving almost the same accuracy on the original non-masked datasets. Furthermore, it achieves an average accuracy of 99.78% in mask-usage classification.

Efficient Large-Scale Face Clustering Using an Online Mixture of Gaussians

In this work, we address the problem of large-scale online face clustering: given a continuous stream of unknown faces, create a database grouping the incoming faces by their identity. The database must be updated every time a new face arrives. In addition, the solution must be efficient, accurate and scalable. For this purpose, we present an online gaussian mixture-based clustering method (OGMC). The key idea of this method is the proposal that an identity can be represented by more than just one distribution or cluster. Using feature vectors (f-vectors) extracted from the incoming faces, OGMC generates clusters that may be connected to others depending on their proximity and their robustness. Every time a cluster is updated with a new sample, its connections are also updated. With this approach, we reduce the dependency of the clustering process on the order and the size of the incoming data and we are able to deal with complex data distributions. Experimental results show that the proposed approach outperforms state-of-the-art clustering methods on large-scale face clustering benchmarks not only in accuracy, but also in efficiency and scalability.