Enhanced Cooperative Perception for Autonomous Vehicles Using Imperfect Communication

Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where their individual visual perception quality is compromised by adverse weather conditions (haze as foggy weather), low illumination, winding roads, and crowded traffic. To cover the limitations of former methods, in this paper, we propose a novel approach to realize an optimized CP under constrained communications. At the core of our approach is recruiting the best helper from the available list of front vehicles to augment the visual range and enhance the Object Detection (OD) accuracy of the ego vehicle. In this two-step process, we first select the helper vehicles that contribute the most to CP based on their visual range and lowest motion blur. Next, we implement a radio block optimization among the candidate vehicles to further improve communication efficiency. We specifically focus on pedestrian detection as an exemplary scenario. To validate our approach, we used the CARLA simulator to create a dataset of annotated videos for different driving scenarios where pedestrian detection is challenging for an AV with compromised vision. Our results demonstrate the efficacy of our two-step optimization process in improving the overall performance of cooperative perception in challenging scenarios, substantially improving driving safety under adverse conditions. Finally, we note that the networking assumptions are adopted from LTE Release 14 Mode 4 side-link communication, commonly used for Vehicle-to-Vehicle (V2V) communication. Nonetheless, our method is flexible and applicable to arbitrary V2V communications.

FLAME Diffuser: Grounded Wildfire Image Synthesis using Mask Guided Diffusion

The rise of machine learning in recent years has brought benefits to various research fields such as wide fire detection. Nevertheless, small object detection and rare object detection remain a challenge. To address this problem, we present a dataset automata that can generate ground truth paired datasets using diffusion models. Specifically, we introduce a mask-guided diffusion framework that can fusion the wildfire into the existing images while the flame position and size can be precisely controlled. In advance, to fill the gap that the dataset of wildfire images in specific scenarios is missing, we vary the background of synthesized images by controlling both the text prompt and input image. Furthermore, to solve the color tint problem or the well-known domain shift issue, we apply the CLIP model to filter the generated massive dataset to preserve quality. Thus, our proposed framework can generate a massive dataset of that images are high-quality and ground truth-paired, which well addresses the needs of the annotated datasets in specific tasks.

A comprehensive survey of research towards AI-enabled unmanned aerial systems in pre-, active-, and post-wildfire management

Wildfires have emerged as one of the most destructive natural disasters worldwide, causing catastrophic losses in both human lives and forest wildlife. Recently, the use of Artificial Intelligence (AI) in wildfires, propelled by the integration of Unmanned Aerial Vehicles (UAVs) and deep learning models, has created an unprecedented momentum to implement and develop more effective wildfire management. Although some of the existing survey papers have explored various learning-based approaches, a comprehensive review emphasizing the application of AI-enabled UAV systems and their subsequent impact on multi-stage wildfire management is notably lacking. This survey aims to bridge these gaps by offering a systematic review of the recent state-of-the-art technologies, highlighting the advancements of UAV systems and AI models from pre-fire, through the active-fire stage, to post-fire management. To this aim, we provide an extensive analysis of the existing remote sensing systems with a particular focus on the UAV advancements, device specifications, and sensor technologies relevant to wildfire management. We also examine the pre-fire and post-fire management approaches, including fuel monitoring, prevention strategies, as well as evacuation planning, damage assessment, and operation strategies. Additionally, we review and summarize a wide range of computer vision techniques in active-fire management, with an emphasis on Machine Learning (ML), Reinforcement Learning (RL), and Deep Learning (DL) algorithms for wildfire classification, segmentation, detection, and monitoring tasks. Ultimately, we underscore the substantial advancement in wildfire modeling through the integration of cutting-edge AI techniques and UAV-based data, providing novel insights and enhanced predictive capabilities to understand dynamic wildfire behavior.

An Efficient High-Dimensional Gene Selection Approach based on Binary Horse Herd Optimization Algorithm for Biological Data Classification

The Horse Herd Optimization Algorithm (HOA) is a new meta-heuristic algorithm based on the behaviors of horses at different ages. The HOA was introduced recently to solve complex and high-dimensional problems. This paper proposes a binary version of the Horse Herd Optimization Algorithm (BHOA) in order to solve discrete problems and select prominent feature subsets. Moreover, this study provides a novel hybrid feature selection framework based on the BHOA and a minimum Redundancy Maximum Relevance (MRMR) filter method. This hybrid feature selection, which is more computationally efficient, produces a beneficial subset of relevant and informative features. Since feature selection is a binary problem, we have applied a new Transfer Function (TF), called X-shape TF, which transforms continuous problems into binary search spaces. Furthermore, the Support Vector Machine (SVM) is utilized to examine the efficiency of the proposed method on ten microarray datasets, namely Lymphoma, Prostate, Brain-1, DLBCL, SRBCT, Leukemia, Ovarian, Colon, Lung, and MLL. In comparison to other state-of-the-art, such as the Gray Wolf (GW), Particle Swarm Optimization (PSO), and Genetic Algorithm (GA), the proposed hybrid method (MRMR-BHOA) demonstrates superior performance in terms of accuracy and minimum selected features. Also, experimental results prove that the X-Shaped BHOA approach outperforms others methods.

A Hybrid Chimp Optimization Algorithm and Generalized Normal Distribution Algorithm with Opposition-Based Learning Strategy for Solving Data Clustering Problems

This paper is concerned with data clustering to separate clusters based on the connectivity principle for categorizing similar and dissimilar data into different groups. Although classical clustering algorithms such as K-means are efficient techniques, they often trap in local optima and have a slow convergence rate in solving high-dimensional problems. To address these issues, many successful meta-heuristic optimization algorithms and intelligence-based methods have been introduced to attain the optimal solution in a reasonable time. They are designed to escape from a local optimum problem by allowing flexible movements or random behaviors. In this study, we attempt to conceptualize a powerful approach using the three main components: Chimp Optimization Algorithm (ChOA), Generalized Normal Distribution Algorithm (GNDA), and Opposition-Based Learning (OBL) method. Firstly, two versions of ChOA with two different independent groups' strategies and seven chaotic maps, entitled ChOA(I) and ChOA(II), are presented to achieve the best possible result for data clustering purposes. Secondly, a novel combination of ChOA and GNDA algorithms with the OBL strategy is devised to solve the major shortcomings of the original algorithms. Lastly, the proposed ChOAGNDA method is a Selective Opposition (SO) algorithm based on ChOA and GNDA, which can be used to tackle large and complex real-world optimization problems, particularly data clustering applications. The results are evaluated against seven popular meta-heuristic optimization algorithms and eight recent state-of-the-art clustering techniques. Experimental results illustrate that the proposed work significantly outperforms other existing methods in terms of the achievement in minimizing the Sum of Intra-Cluster Distances (SICD), obtaining the lowest Error Rate (ER), accelerating the convergence speed, and finding the optimal cluster centers.