SLAM2REF: Advancing Long-Term Mapping with 3D LiDAR and Reference Map Integration for Precise 6-DoF Trajectory Estimation and Map Extension

This paper presents a pioneering solution to the task of integrating mobile 3D LiDAR and inertial measurement unit (IMU) data with existing building information models or point clouds, which is crucial for achieving precise long-term localization and mapping in indoor, GPS-denied environments. Our proposed framework, SLAM2REF, introduces a novel approach for automatic alignment and map extension utilizing reference 3D maps. The methodology is supported by a sophisticated multi-session anchoring technique, which integrates novel descriptors and registration methodologies. Real-world experiments reveal the framework's remarkable robustness and accuracy, surpassing current state-of-the-art methods. Our open-source framework's significance lies in its contribution to resilient map data management, enhancing processes across diverse sectors such as construction site monitoring, emergency response, disaster management, and others, where fast-updated digital 3D maps contribute to better decision-making and productivity. Moreover, it offers advancements in localization and mapping research. Link to the repository: https://github.com/MigVega/SLAM2REF, Data: https://doi.org/10.14459/2024mp1743877.

BIM-SLAM: Integrating BIM Models in Multi-session SLAM for Lifelong Mapping using 3D LiDAR

While 3D LiDAR sensor technology is becoming more advanced and cheaper every day, the growth of digitalization in the AEC industry contributes to the fact that 3D building information models (BIM models) are now available for a large part of the built environment. These two facts open the question of how 3D models can support 3D LiDAR long-term SLAM in indoor, GPS-denied environments. This paper proposes a methodology that leverages BIM models to create an updated map of indoor environments with sequential LiDAR measurements. Session data (pose graph-based map and descriptors) are initially generated from BIM models. Then, real-world data is aligned with the session data from the model using multi-session anchoring while minimizing the drift on the real-world data. Finally, the new elements not present in the BIM model are identified, grouped, and reconstructed in a surface representation, allowing a better visualization next to the BIM model. The framework enables the creation of a coherent map aligned with the BIM model that does not require prior knowledge of the initial pose of the robot, and it does not need to be inside the map.

SS-SFR: Synthetic Scenes Spatial Frequency Response on Virtual KITTI and Degraded Automotive Simulations for Object Detection

Automotive simulation can potentially compensate for a lack of training data in computer vision applications. However, there has been little to no image quality evaluation of automotive simulation and the impact of optical degradations on simulation is little explored. In this work, we investigate Virtual KITTI and the impact of applying variations of Gaussian blur on image sharpness. Furthermore, we consider object detection, a common computer vision application on three different state-of-the-art models, thus allowing us to characterize the relationship between object detection and sharpness. It was found that while image sharpness (MTF50) degrades from an average of 0.245cy/px to approximately 0.119cy/px; object detection performance stays largely robust within 0.58\%(Faster RCNN), 1.45\%(YOLOF) and 1.93\%(DETR) across all respective held-out test sets.

Decoupling of neural network calibration measures

A lot of effort is currently invested in safeguarding autonomous driving systems, which heavily rely on deep neural networks for computer vision. We investigate the coupling of different neural network calibration measures with a special focus on the Area Under the Sparsification Error curve (AUSE) metric. We elaborate on the well-known inconsistency in determining optimal calibration using the Expected Calibration Error (ECE) and we demonstrate similar issues for the AUSE, the Uncertainty Calibration Score (UCS), as well as the Uncertainty Calibration Error (UCE). We conclude that the current methodologies leave a degree of freedom, which prevents a unique model calibration for the homologation of safety-critical functionalities. Furthermore, we propose the AUSE as an indirect measure for the residual uncertainty, which is irreducible for a fixed network architecture and is driven by the stochasticity in the underlying data generation process (aleatoric contribution) as well as the limitation in the hypothesis space (epistemic contribution).

A Point-Based Approach to Efficient LiDAR Multi-Task Perception

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple task-specific point cloud representations, each requiring a separate feature encoder and making the network structures bulky and slow. We propose PAttFormer, an efficient multi-task architecture for joint semantic segmentation and object detection in point clouds that only relies on a point-based representation. The network builds on transformer-based feature encoders using neighborhood attention and grid-pooling and a query-based detection decoder using a novel 3D deformable-attention detection head design. Unlike other LiDAR-based multi-task architectures, our proposed PAttFormer does not require separate feature encoders for multiple task-specific point cloud representations, resulting in a network that is 3x smaller and 1.4x faster while achieving competitive performance on the nuScenes and KITTI benchmarks for autonomous driving perception. Our extensive evaluations show substantial gains from multi-task learning, improving LiDAR semantic segmentation by +1.7% in mIou and 3D object detection by +1.7% in mAP on the nuScenes benchmark compared to the single-task models.

Classification robustness to common optical aberrations

Computer vision using deep neural networks (DNNs) has brought about seminal changes in people's lives. Applications range from automotive, face recognition in the security industry, to industrial process monitoring. In some cases, DNNs infer even in safety-critical situations. Therefore, for practical applications, DNNs have to behave in a robust way to disturbances such as noise, pixelation, or blur. Blur directly impacts the performance of DNNs, which are often approximated as a disk-shaped kernel to model defocus. However, optics suggests that there are different kernel shapes depending on wavelength and location caused by optical aberrations. In practice, as the optical quality of a lens decreases, such aberrations increase. This paper proposes OpticsBench, a benchmark for investigating robustness to realistic, practically relevant optical blur effects. Each corruption represents an optical aberration (coma, astigmatism, spherical, trefoil) derived from Zernike Polynomials. Experiments on ImageNet show that for a variety of different pre-trained DNNs, the performance varies strongly compared to disk-shaped kernels, indicating the necessity of considering realistic image degradations. In addition, we show on ImageNet-100 with OpticsAugment that robustness can be increased by using optical kernels as data augmentation. Compared to a conventionally trained ResNeXt50, training with OpticsAugment achieves an average performance gain of 21.7% points on OpticsBench and 6.8% points on 2D common corruptions.

Occupancy Grid Map to Pose Graph-based Map: Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments

Several studies rely on the de facto standard Adaptive Monte Carlo Localization (AMCL) method to localize a robot in an Occupancy Grid Map (OGM) extracted from a building information model (BIM model). However, most of these studies assume that the BIM model precisely represents the real world, which is rarely true. Discrepancies between the reference BIM model and the real world (Scan-BIM deviations) are not only due to furniture or clutter but also the usual as-planned and as-built deviations that exist with any model created in the design phase. These deviations affect the accuracy of AMCL drastically. This paper proposes an open-source method to generate appropriate Pose Graph-based maps from BIM models for robust 2D-LiDAR localization in changing and dynamic environments. First, 2D OGMs are automatically generated from complex BIM models. These OGMs only represent structural elements allowing indoor autonomous robot navigation. Then, an efficient technique converts these 2D OGMs into Pose Graph-based maps enabling more accurate robot pose tracking. Finally, we leverage the different map representations for accurate, robust localization with a combination of state-of-the-art algorithms. Moreover, we provide a quantitative comparison of various state-of-the-art localization algorithms in three simulated scenarios with varying levels of Scan-BIM deviations and dynamic agents. More precisely, we compare two Particle Filter (PF) algorithms: AMCL and General Monte Carlo Localization (GMCL); and two Graph-based Localization (GBL) methods: Google's Cartographer and SLAM Toolbox, solving the global localization and pose tracking problems. The numerous experiments demonstrate that the proposed method contributes to a robust localization with an as-designed BIM model or a sparse OGM in changing and dynamic environments, outperforming the conventional AMCL in accuracy and robustness.

ECS -- an Interactive Tool for Data Quality Assurance

With the increasing capabilities of machine learning systems and their potential use in safety-critical systems, ensuring high-quality data is becoming increasingly important. In this paper we present a novel approach for the assurance of data quality. For this purpose, the mathematical basics are first discussed and the approach is presented using multiple examples. This results in the detection of data points with potentially harmful properties for the use in safety-critical systems.

QI2 -- an Interactive Tool for Data Quality Assurance

The importance of high data quality is increasing with the growing impact and distribution of ML systems and big data. Also the planned AI Act from the European commission defines challenging legal requirements for data quality especially for the market introduction of safety relevant ML systems. In this paper we introduce a novel approach that supports the data quality assurance process of multiple data quality aspects. This approach enables the verification of quantitative data quality requirements. The concept and benefits are introduced and explained on small example data sets. How the method is applied is demonstrated on the well known MNIST data set based an handwritten digits.

Windscreen Optical Quality for AI Algorithms: Refractive Power and MTF not Sufficient

Windscreen optical quality is an important aspect of any advanced driver assistance system, and also for future autonomous driving, as today at least some cameras of the sensor suite are situated behind the windscreen. Automotive mass production processes require measurement systems that characterize the optical quality of the windscreens in a meaningful way, which for modern perception stacks implies meaningful for artificial intelligence (AI) algorithms. The measured optical quality needs to be linked to the performance of these algorithms, such that performance limits - and thus production tolerance limits - can be defined. In this article we demonstrate that the main metric established in the industry - refractive power - is fundamentally not capable of capturing relevant optical properties of windscreens. Further, as the industry is moving towards the modulation transfer function (MTF) as an alternative, we mathematically show that this metric cannot be used on windscreens alone, but that the windscreen forms a novel optical system together with the optics of the camera system. Hence, the required goal of a qualification system that is installed at the windscreen supplier and independently measures the optical quality cannot be achieved using MTF. We propose a novel concept to determine the optical quality of windscreens and to use simulation to link this optical quality to the performance of AI algorithms, which can hopefully lead to novel inspection systems.