Deep Learning-based Type Identification of Volumetric MRI Sequences

The analysis of Magnetic Resonance Imaging (MRI) sequences enables clinical professionals to monitor the progression of a brain tumor. As the interest for automatizing brain volume MRI analysis increases, it becomes convenient to have each sequence well identified. However, the unstandardized naming of MRI sequences makes their identification difficult for automated systems, as well as makes it difficult for researches to generate or use datasets for machine learning research. In the face of that, we propose a system for identifying types of brain MRI sequences based on deep learning. By training a Convolutional Neural Network (CNN) based on 18-layer ResNet architecture, our system can classify a volumetric brain MRI as a FLAIR, T1, T1c or T2 sequence, or whether it does not belong to any of these classes. The network was evaluated on publicly available datasets comprising both, pre-processed (BraTS dataset) and non-pre-processed (TCGA-GBM dataset), image types with diverse acquisition protocols, requiring only a few slices of the volume for training. Our system can classify among sequence types with an accuracy of 96.81%.

Copycat CNN: Are Random Non-Labeled Data Enough to Steal Knowledge from Black-box Models?

Convolutional neural networks have been successful lately enabling companies to develop neural-based products, which demand an expensive process, involving data acquisition and annotation; and model generation, usually requiring experts. With all these costs, companies are concerned about the security of their models against copies and deliver them as black-boxes accessed by APIs. Nonetheless, we argue that even black-box models still have some vulnerabilities. In a preliminary work, we presented a simple, yet powerful, method to copy black-box models by querying them with natural random images. In this work, we consolidate and extend the copycat method: (i) some constraints are waived; (ii) an extensive evaluation with several problems is performed; (iii) models are copied between different architectures; and, (iv) a deeper analysis is performed by looking at the copycat behavior. Results show that natural random images are effective to generate copycats for several problems.

Deep traffic light detection by overlaying synthetic context on arbitrary natural images

Deep neural networks come as an effective solution to many problems associated with autonomous driving. By providing real image samples with traffic context to the network, the model learns to detect and classify elements of interest, such as pedestrians, traffic signs, and traffic lights. However, acquiring and annotating real data can be extremely costly in terms of time and effort. In this context, we propose a method to generate artificial traffic-related training data for deep traffic light detectors. This data is generated using basic non-realistic computer graphics to blend fake traffic scenes on top of arbitrary image backgrounds that are not related to the traffic domain. Thus, a large amount of training data can be generated without annotation efforts. Furthermore, it also tackles the intrinsic data imbalance problem in traffic light datasets, caused mainly by the low amount of samples of the yellow state. Experiments show that it is possible to achieve results comparable to those obtained with real training data from the problem domain, yielding an average mAP and an average F1-score which are each nearly 4 p.p. higher than the respective metrics obtained with a real-world reference model.

Keep your Eyes on the Lane: Attention-guided Lane Detection

Modern lane detection methods have achieved remarkable performances in complex real-world scenarios, but many have issues maintaining real-time efficiency, which is important for autonomous vehicles. In this work, we propose LaneATT: an anchor-based deep lane detection model, which, akin to other generic deep object detectors, uses the anchors for the feature pooling step. Since lanes follow a regular pattern and are highly correlated, we hypothesize that in some cases global information may be crucial to infer their positions, especially in conditions such as occlusion, missing lane markers, and others. Thus, we propose a novel anchor-based attention mechanism that aggregates global information. The model was evaluated extensively on two of the most widely used datasets in the literature. The results show that our method outperforms the current state-of-the-art methods showing both a higher efficacy and efficiency. Moreover, we perform an ablation study and discuss efficiency trade-off options that are useful in practice. To reproduce our findings, source code and pretrained models are available at https://github.com/lucastabelini/LaneATT

What is the Best Grid-Map for Self-Driving Cars Localization? An Evaluation under Diverse Types of Illumination, Traffic, and Environment

The localization of self-driving cars is needed for several tasks such as keeping maps updated, tracking objects, and planning. Localization algorithms often take advantage of maps for estimating the car pose. Since maintaining and using several maps is computationally expensive, it is important to analyze which type of map is more adequate for each application. In this work, we provide data for such analysis by comparing the accuracy of a particle filter localization when using occupancy, reflectivity, color, or semantic grid maps. To the best of our knowledge, such evaluation is missing in the literature. For building semantic and colour grid maps, point clouds from a Light Detection and Ranging (LiDAR) sensor are fused with images captured by a front-facing camera. Semantic information is extracted from images with a deep neural network. Experiments are performed in varied environments, under diverse conditions of illumination and traffic. Results show that occupancy grid maps lead to more accurate localization, followed by reflectivity grid maps. In most scenarios, the localization with semantic grid maps kept the position tracking without catastrophic losses, but with errors from 2 to 3 times bigger than the previous. Colour grid maps led to inaccurate and unstable localization even using a robust metric, the entropy correlation coefficient, for comparing online data and the map.

Deep Traffic Sign Detection and Recognition Without Target Domain Real Images

Deep learning has been successfully applied to several problems related to autonomous driving, often relying on large databases of real target-domain images for proper training. The acquisition of such real-world data is not always possible in the self-driving context, and sometimes their annotation is not feasible. Moreover, in many tasks, there is an intrinsic data imbalance that most learning-based methods struggle to cope with. Particularly, traffic sign detection is a challenging problem in which these three issues are seen altogether. To address these challenges, we propose a novel database generation method that requires only (i) arbitrary natural images, i.e., requires no real image from the target-domain, and (ii) templates of the traffic signs. The method does not aim at overcoming the training with real data, but to be a compatible alternative when the real data is not available. The effortlessly generated database is shown to be effective for the training of a deep detector on traffic signs from multiple countries. On large data sets, training with a fully synthetic data set almost matches the performance of training with a real one. When compared to training with a smaller data set of real images, training with synthetic images increased the accuracy by 12.25%. The proposed method also improves the performance of the detector when target-domain data are available.

Self-supervised Deep Reconstruction of Mixed Strip-shredded Text Documents

The reconstruction of shredded documents consists of coherently arranging fragments of paper (shreds) to recover the original document(s). A great challenge in computational reconstruction is to properly evaluate the compatibility between the shreds. While traditional pixel-based approaches are not robust to real shredding, more sophisticated solutions compromise significantly time performance. The solution presented in this work extends our previous deep learning method for single-page reconstruction to a more realistic/complex scenario: the reconstruction of several mixed shredded documents at once. In our approach, the compatibility evaluation is modeled as a two-class (valid or invalid) pattern recognition problem. The model is trained in a self-supervised manner on samples extracted from simulated-shredded documents, which obviates manual annotation. Experimental results on three datasets -- including a new collection of 100 strip-shredded documents produced for this work -- have shown that the proposed method outperforms the competing ones on complex scenarios, achieving accuracy superior to 90%.

Fast(er) Reconstruction of Shredded Text Documents via Self-Supervised Deep Asymmetric Metric Learning

The reconstruction of shredded documents consists in arranging the pieces of paper (shreds) in order to reassemble the original aspect of such documents. This task is particularly relevant for supporting forensic investigation as documents may contain criminal evidence. As an alternative to the laborious and time-consuming manual process, several researchers have been investigating ways to perform automatic digital reconstruction. A central problem in automatic reconstruction of shredded documents is the pairwise compatibility evaluation of the shreds, notably for binary text documents. In this context, deep learning has enabled great progress for accurate reconstructions in the domain of mechanically-shredded documents. A sensitive issue, however, is that current deep model solutions require an inference whenever a pair of shreds has to be evaluated. This work proposes a scalable deep learning approach for measuring pairwise compatibility in which the number of inferences scales linearly (rather than quadratically) with the number of shreds. Instead of predicting compatibility directly, deep models are leveraged to asymmetrically project the raw shred content onto a common metric space in which distance is proportional to the compatibility. Experimental results show that our method has accuracy comparable to the state-of-the-art with a speed-up of about 22 times for a test instance with 505 shreds (20 mixed shredded-pages from different documents).

PolyLaneNet: Lane Estimation via Deep Polynomial Regression

One of the main factors that contributed to the large advances in autonomous driving is the advent of deep learning. For safer self-driving vehicles, one of the problems that has yet to be solved completely is lane detection. Since methods for this task have to work in real time (+30 FPS), they not only have to be effective (i.e., have high accuracy) but they also have to be efficient (i.e., fast). In this work, we present a novel method for lane detection that uses as input an image from a forward-looking camera mounted in the vehicle and outputs polynomials representing each lane marking in the image, via deep polynomial regression. The proposed method is shown to be competitive with existing state-of-the-art methods in the TuSimple dataset, while maintaining its efficiency (115 FPS). Additionally, extensive qualitative results on two additional public datasets are presented, alongside with limitations in the evaluation metrics used by recent works for lane detection. Finally, we provide source code and trained models that allow others to replicate all the results shown in this paper, which is surprisingly rare in state-of-the-art lane detection methods.

Bio-Inspired Foveated Technique for Augmented-Range Vehicle Detection Using Deep Neural Networks

We propose a bio-inspired foveated technique to detect cars in a long range camera view using a deep convolutional neural network (DCNN) for the IARA self-driving car. The DCNN receives as input (i) an image, which is captured by a camera installed on IARA's roof; and (ii) crops of the image, which are centered in the waypoints computed by IARA's path planner and whose sizes increase with the distance from IARA. We employ an overlap filter to discard detections of the same car in different crops of the same image based on the percentage of overlap of detections' bounding boxes. We evaluated the performance of the proposed augmented-range vehicle detection system (ARVDS) using the hardware and software infrastructure available in the IARA self-driving car. Using IARA, we captured thousands of images of real traffic situations containing cars in a long range. Experimental results show that ARVDS increases the Average Precision (AP) of long range car detection from 29.51% (using a single whole image) to 63.15%.