RASMD: RGB And SWIR Multispectral Driving Dataset for Robust Perception in Adverse Conditions

Current autonomous driving algorithms heavily rely on the visible spectrum, which is prone to performance degradation in adverse conditions like fog, rain, snow, glare, and high contrast. Although other spectral bands like near-infrared (NIR) and long-wave infrared (LWIR) can enhance vision perception in such situations, they have limitations and lack large-scale datasets and benchmarks. Short-wave infrared (SWIR) imaging offers several advantages over NIR and LWIR. However, no publicly available large-scale datasets currently incorporate SWIR data for autonomous driving. To address this gap, we introduce the RGB and SWIR Multispectral Driving (RASMD) dataset, which comprises 100,000 synchronized and spatially aligned RGB-SWIR image pairs collected across diverse locations, lighting, and weather conditions. In addition, we provide a subset for RGB-SWIR translation and object detection annotations for a subset of challenging traffic scenarios to demonstrate the utility of SWIR imaging through experiments on both object detection and RGB-to-SWIR image translation. Our experiments show that combining RGB and SWIR data in an ensemble framework significantly improves detection accuracy compared to RGB-only approaches, particularly in conditions where visible-spectrum sensors struggle. We anticipate that the RASMD dataset will advance research in multispectral imaging for autonomous driving and robust perception systems.

First Lessons Learned of an Artificial Intelligence Robotic System for Autonomous Coarse Waste Recycling Using Multispectral Imaging-Based Methods

Current disposal facilities for coarse-grained waste perform manual sorting of materials with heavy machinery. Large quantities of recyclable materials are lost to coarse waste, so more effective sorting processes must be developed to recover them. Two key aspects to automate the sorting process are object detection with material classification in mixed piles of waste, and autonomous control of hydraulic machinery. Because most objects in those accumulations of waste are damaged or destroyed, object detection alone is not feasible in the majority of cases. To address these challenges, we propose a classification of materials with multispectral images of ultraviolet (UV), visual (VIS), near infrared (NIR), and short-wave infrared (SWIR) spectrums. Solution for autonomous control of hydraulic heavy machines for sorting of bulky waste is being investigated using cost-effective cameras and artificial intelligence-based controllers.

Multispectral Pedestrian Detection with Sparsely Annotated Label

Although existing Sparsely Annotated Object Detection (SAOD) approches have made progress in handling sparsely annotated environments in multispectral domain, where only some pedestrians are annotated, they still have the following limitations: (i) they lack considerations for improving the quality of pseudo-labels for missing annotations, and (ii) they rely on fixed ground truth annotations, which leads to learning only a limited range of pedestrian visual appearances in the multispectral domain. To address these issues, we propose a novel framework called Sparsely Annotated Multispectral Pedestrian Detection (SAMPD). For limitation (i), we introduce Multispectral Pedestrian-aware Adaptive Weight (MPAW) and Positive Pseudo-label Enhancement (PPE) module. Utilizing multispectral knowledge, these modules ensure the generation of high-quality pseudo-labels and enable effective learning by increasing weights for high-quality pseudo-labels based on modality characteristics. To address limitation (ii), we propose an Adaptive Pedestrian Retrieval Augmentation (APRA) module, which adaptively incorporates pedestrian patches from ground-truth and dynamically integrates high-quality pseudo-labels with the ground-truth, facilitating a more diverse learning pool of pedestrians. Extensive experimental results demonstrate that our SAMPD significantly enhances performance in sparsely annotated environments within the multispectral domain.

Optimizing Multispectral Object Detection: A Bag of Tricks and Comprehensive Benchmarks

Multispectral object detection, utilizing RGB and TIR (thermal infrared) modalities, is widely recognized as a challenging task. It requires not only the effective extraction of features from both modalities and robust fusion strategies, but also the ability to address issues such as spectral discrepancies, spatial misalignment, and environmental dependencies between RGB and TIR images. These challenges significantly hinder the generalization of multispectral detection systems across diverse scenarios. Although numerous studies have attempted to overcome these limitations, it remains difficult to clearly distinguish the performance gains of multispectral detection systems from the impact of these "optimization techniques". Worse still, despite the rapid emergence of high-performing single-modality detection models, there is still a lack of specialized training techniques that can effectively adapt these models for multispectral detection tasks. The absence of a standardized benchmark with fair and consistent experimental setups also poses a significant barrier to evaluating the effectiveness of new approaches. To this end, we propose the first fair and reproducible benchmark specifically designed to evaluate the training "techniques", which systematically classifies existing multispectral object detection methods, investigates their sensitivity to hyper-parameters, and standardizes the core configurations. A comprehensive evaluation is conducted across multiple representative multispectral object detection datasets, utilizing various backbone networks and detection frameworks. Additionally, we introduce an efficient and easily deployable multispectral object detection framework that can seamlessly optimize high-performing single-modality models into dual-modality models, integrating our advanced training techniques.

Thermal and RGB Images Work Better Together in Wind Turbine Damage Detection

The inspection of wind turbine blades (WTBs) is crucial for ensuring their structural integrity and operational efficiency. Traditional inspection methods can be dangerous and inefficient, prompting the use of unmanned aerial vehicles (UAVs) that access hard-to-reach areas and capture high-resolution imagery. In this study, we address the challenge of enhancing defect detection on WTBs by integrating thermal and RGB images obtained from UAVs. We propose a multispectral image composition method that combines thermal and RGB imagery through spatial coordinate transformation, key point detection, binary descriptor creation, and weighted image overlay. Using a benchmark dataset of WTB images annotated for defects, we evaluated several state-of-the-art object detection models. Our results show that composite images significantly improve defect detection efficiency. Specifically, the YOLOv8 model's accuracy increased from 91% to 95%, precision from 89% to 94%, recall from 85% to 92%, and F1-score from 87% to 93%. The number of false positives decreased from 6 to 3, and missed defects reduced from 5 to 2. These findings demonstrate that integrating thermal and RGB imagery enhances defect detection on WTBs, contributing to improved maintenance and reliability.

Semantic segmentation on multi-resolution optical and microwave data using deep learning

Presently, deep learning and convolutional neural networks (CNNs) are widely used in the fields of image processing, image classification, object identification and many more. In this work, we implemented convolutional neural network based modified U-Net model and VGG-UNet model to automatically identify objects from satellite imagery captured using high resolution Indian remote sensing satellites and then to pixel wise classify satellite data into various classes. In this paper, Cartosat 2S (~1m spatial resolution) datasets were used and deep learning models were implemented to detect building shapes and ships from the test datasets with an accuracy of more than 95%. In another experiment, microwave data (varied resolution) from RISAT-1 was taken as an input and ships and trees were detected with an accuracy of >96% from these datasets. For the classification of images into multiple-classes, deep learning model was trained on multispectral Cartosat images. Model generated results were then tested using ground truth. Multi-label classification results were obtained with an accuracy (IoU) of better than 95%. Total six different problems were attempted using deep learning models and IoU accuracies in the range of 85% to 98% were achieved depending on the degree of complexity.

Unveiling the Limits of Alignment: Multi-modal Dynamic Local Fusion Network and A Benchmark for Unaligned RGBT Video Object Detection

Current RGB-Thermal Video Object Detection (RGBT VOD) methods still depend on manually aligning data at the image level, which hampers its practical application in real-world scenarios since image pairs captured by multispectral sensors often differ in both fields of view and resolution. To address this limitation, we propose a Multi-modal Dynamic Local fusion Network (MDLNet) designed to handle unaligned RGBT image pairs. Specifically, our proposed Multi-modal Dynamic Local Fusion (MDLF) module includes a set of predefined boxes, each enhanced with random Gaussian noise to generate a dynamic box. Each box selects a local region from the original high-resolution RGB image. This region is then fused with the corresponding information from another modality and reinserted into the RGB. This method adapts to various data alignment scenarios by interacting with local features across different ranges. Simultaneously, we introduce a Cascaded Temporal Scrambler (CTS) within an end-to-end architecture. This module leverages consistent spatiotemporal information from consecutive frames to enhance the representation capability of the current frame while maintaining network efficiency. We have curated an open dataset called UVT-VOD2024 for unaligned RGBT VOD. It consists of 30,494 pairs of unaligned RGBT images captured directly from a multispectral camera. We conduct a comprehensive evaluation and comparison with MDLNet and state-of-the-art (SOTA) models, demonstrating the superior effectiveness of MDLNet. We will release our code and UVT-VOD2024 to the public for further research.

DMM: Disparity-guided Multispectral Mamba for Oriented Object Detection in Remote Sensing

Multispectral oriented object detection faces challenges due to both inter-modal and intra-modal discrepancies. Recent studies often rely on transformer-based models to address these issues and achieve cross-modal fusion detection. However, the quadratic computational complexity of transformers limits their performance. Inspired by the efficiency and lower complexity of Mamba in long sequence tasks, we propose Disparity-guided Multispectral Mamba (DMM), a multispectral oriented object detection framework comprised of a Disparity-guided Cross-modal Fusion Mamba (DCFM) module, a Multi-scale Target-aware Attention (MTA) module, and a Target-Prior Aware (TPA) auxiliary task. The DCFM module leverages disparity information between modalities to adaptively merge features from RGB and IR images, mitigating inter-modal conflicts. The MTA module aims to enhance feature representation by focusing on relevant target regions within the RGB modality, addressing intra-modal variations. The TPA auxiliary task utilizes single-modal labels to guide the optimization of the MTA module, ensuring it focuses on targets and their local context. Extensive experiments on the DroneVehicle and VEDAI datasets demonstrate the effectiveness of our method, which outperforms state-of-the-art methods while maintaining computational efficiency. Code will be available at https://github.com/Another-0/DMM.

ERX: A Fast Real-Time Anomaly Detection Algorithm for Hyperspectral Line-Scanning

Detecting unexpected objects (anomalies) in real-time has great potential for monitoring, managing, and protecting the environment. Hyperspectral line-scan cameras are a low-cost solution that enhance confidence in anomaly detection over RGB and multispectral imagery. However, real-time algorithms for these cameras must be fast when using small computers (e.g., those onboard a drone or small satellite), scalable to high dimensions, adaptable to changing scenery, and robust against geometric and radiometric distortions. This paper introduces the Exponentially moving RX algorithm (ERX) and compares it to existing RX-based anomaly detection methods for real-time line-scanning. ERX was tested using a Jetson Xavier NX compute module, achieving the best combination of speed and detection across three novel datasets compared to the other algorithms. This research paves the way for future studies in grouping and locating anomalous objects, adaptive and automatic threshold selection, and real-time field tests. The Python code for the algorithms and experiments is available at https://github.com/WiseGamgee/HyperAD.

Rethinking Early-Fusion Strategies for Improved Multispectral Object Detection

Most recent multispectral object detectors employ a two-branch structure to extract features from RGB and thermal images. While the two-branch structure achieves better performance than a single-branch structure, it overlooks inference efficiency. This conflict is increasingly aggressive, as recent works solely pursue higher performance rather than both performance and efficiency. In this paper, we address this issue by improving the performance of efficient single-branch structures. We revisit the reasons causing the performance gap between these structures. For the first time, we reveal the information interference problem in the naive early-fusion strategy adopted by previous single-branch structures. Besides, we find that the domain gap between multispectral images, and weak feature representation of the single-branch structure are also key obstacles for performance. Focusing on these three problems, we propose corresponding solutions, including a novel shape-priority early-fusion strategy, a weakly supervised learning method, and a core knowledge distillation technique. Experiments demonstrate that single-branch networks equipped with these three contributions achieve significant performance enhancements while retaining high efficiency. Our code will be available at \url{https://github.com/XueZ-phd/Efficient-RGB-T-Early-Fusion-Detection}.