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When Autonomous Systems Meet Accuracy and Transferability through AI: A Survey

arXiv.org Artificial Intelligence

With widespread applications of artificial intelligence (AI), the capabilities of the perception, understanding, decision-making and control for autonomous systems have improved significantly in the past years. When autonomous systems consider the performance of accuracy and transferability simultaneously, several AI methods, like adversarial learning, reinforcement learning (RL) and meta-learning, show their powerful performance. Here, we review the learning-based approaches in autonomous systems from the perspectives of accuracy and transferability. Accuracy means that a well-trained model shows good results during the testing phase, in which the testing set shares a same task or a data distribution with the training set. Transferability means that when an trained model is transferred to other testing domains, the accuracy is still good. Firstly, we introduce some basic concepts of transfer learning and then present some preliminaries of adversarial learning, RL and meta-learning. Secondly, we focus on reviewing the accuracy and transferability to show the advantages of adversarial learning, like generative adversarial networks (GANs), in typical computer vision tasks in autonomous systems, including image style transfer, image super-resolution, image deblurring/dehazing/rain removal, semantic segmentation, depth estimation and person re-identification. Then, we further review the performance of RL and meta-learning from the aspects of accuracy and transferability in autonomous systems, involving robot navigation and robotic manipulation. Finally, we discuss several challenges and future topics for using adversarial learning, RL and meta-learning in autonomous systems.


iSeeBetter: Spatio-temporal video super-resolution using recurrent generative back-projection networks

arXiv.org Artificial Intelligence

Recently, learning-based models have enhanced the performance of single-image super-resolution (SISR). However, applying SISR successively to each video frame leads to a lack of temporal coherency. Convolutional neural networks (CNNs) outperform traditional approaches in terms of image quality metrics such as peak signal to noise ratio (PSNR) and structural similarity (SSIM). However, generative adversarial networks (GANs) offer a competitive advantage by being able to mitigate the issue of a lack of finer texture details, usually seen with CNNs when super-resolving at large upscaling factors. We present iSeeBetter, a novel GAN-based spatio-temporal approach to video super-resolution (VSR) that renders temporally consistent super-resolution videos. iSeeBetter extracts spatial and temporal information from the current and neighboring frames using the concept of recurrent back-projection networks as its generator. Furthermore, to improve the "naturality" of the super-resolved image while eliminating artifacts seen with traditional algorithms, we utilize the discriminator from super-resolution generative adversarial network (SRGAN). Although mean squared error (MSE) as a primary loss-minimization objective improves PSNR/SSIM, these metrics may not capture fine details in the image resulting in misrepresentation of perceptual quality. To address this, we use a four-fold (MSE, perceptual, adversarial, and total-variation (TV)) loss function. Our results demonstrate that iSeeBetter offers superior VSR fidelity and surpasses state-of-the-art performance.


Deep Burst Denoising

arXiv.org Machine Learning

Noise is an inherent issue of low-light image capture, one which is exacerbated on mobile devices due to their narrow apertures and small sensors. One strategy for mitigating noise in a low-light situation is to increase the shutter time of the camera, thus allowing each photosite to integrate more light and decrease noise variance. However, there are two downsides of long exposures: (a) bright regions can exceed the sensor range, and (b) camera and scene motion will result in blurred images. Another way of gathering more light is to capture multiple short (thus noisy) frames in a "burst" and intelligently integrate the content, thus avoiding the above downsides. In this paper, we use the burst-capture strategy and implement the intelligent integration via a recurrent fully convolutional deep neural net (CNN). We build our novel, multiframe architecture to be a simple addition to any single frame denoising model, and design to handle an arbitrary number of noisy input frames. We show that it achieves state of the art denoising results on our burst dataset, improving on the best published multi-frame techniques, such as VBM4D and FlexISP. Finally, we explore other applications of image enhancement by integrating content from multiple frames and demonstrate that our DNN architecture generalizes well to image super-resolution.


Deep Learning Meets SAR

arXiv.org Machine Learning

Deep learning in remote sensing has become an international hype, but it is mostly limited to the evaluation of optical data. Although deep learning has been introduced in SAR data processing, despite successful first attempts, its huge potential remains locked. For example, to the best knowledge of the authors, there is no single example of deep learning in SAR that has been developed up to operational processing of big data or integrated into the production chain of any satellite mission. In this paper, we provide an introduction to the most relevant deep learning models and concepts, point out possible pitfalls by analyzing special characteristics of SAR data, review the state-of-the-art of deep learning applied to SAR in depth, summarize available benchmarks, and recommend some important future research directions. With this effort, we hope to stimulate more research in this interesting yet under-exploited research field.


A Survey on Deep Learning Methods for Semantic Image Segmentation in Real-Time

arXiv.org Machine Learning

Semantic image segmentation is one of fastest growing areas in computer vision with a variety of applications. In many areas, such as robotics and autonomous vehicles, semantic image segmentation is crucial, since it provides the necessary context for actions to be taken based on a scene understanding at the pixel level. Moreover, the success of medical diagnosis and treatment relies on the extremely accurate understanding of the data under consideration and semantic image segmentation is one of the important tools in many cases. Recent developments in deep learning have provided a host of tools to tackle this problem efficiently and with increased accuracy. This work provides a comprehensive analysis of state-of-the-art deep learning architectures in image segmentation and, more importantly, an extensive list of techniques to achieve fast inference and computational efficiency. The origins of these techniques as well as their strengths and trade-offs are discussed with an in-depth analysis of their impact in the area. The best-performing architectures are summarized with a list of methods used to achieve these state-of-the-art results.