Vehicle to Vehicle (V2V) communication allows vehicles to wirelessly exchange information on the surrounding environment and enables cooperative perception. It helps prevent accidents, increase the safety of the passengers, and improve the traffic flow efficiency. However, these benefits can only come when the vehicles can communicate with each other in a fast and reliable manner. Therefore, we investigated two areas to improve the communication quality of V2V: First, using beamforming to increase the bandwidth of V2V communication by establishing accurate and stable collaborative beam connection between vehicles on the road; second, ensuring scalable transmission to decrease the amount of data to be transmitted, thus reduce the bandwidth requirements needed for collaborative perception of autonomous driving vehicles. Beamforming in V2V communication can be achieved by utilizing image-based and LIDAR’s 3D data-based vehicle detection and tracking. For vehicle detection and tracking simulation, we tested the Single Shot Multibox Detector deep learning-based object detection method that can achieve a mean Average Precision of 0.837 and the Kalman filter for tracking. For scalable transmission, we simulate the effect of varying pixel resolutions as well as different image compression techniques on the file size of data. Results show that without compression, the file size for only transmitting the bounding boxes containing detected object is up to 10 times less than the original file size. Similar results are also observed when the file is compressed by lossless and lossy compression to varying degrees. Based on these findings using existing databases, the impact of these compression methods and methods of effectively combining feature maps on the performance of object detection and tracking models will be further tested in the real-world autonomous driving system.
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A Strawberry Detection System Using Convolutional Neural Networks
In recent years, robotic technologies, e.g. drones or autonomous cars have been applied to the agricultural sectors to improve the efficiency of typical agricultural operations. Some agricultural tasks that are ideal for robotic automation are yield estimation and robotic harvesting. For these applications, an accurate and reliable image-based detection system is critically important. In this work, we present a low-cost strawberry detection system based on convolutional neural networks. Ablation studies are presented to validate the choice of hyper- parameters, framework, and network structure. Additional modifications to both the training data and network structure that improve precision and execution speed, e.g., input compression, image tiling, color masking, and network compression, are discussed. Finally, we present a final network implementation on a Raspberry Pi 3B that demonstrates a detection speed of 1.63 frames per second and an average precision of 0.842.
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- Award ID(s):
- 1757787
- NSF-PAR ID:
- 10095111
- Date Published:
- Journal Name:
- 5th National Symposium for NSF REU Research in Data Science, Systems, and Security
- Page Range / eLocation ID:
- 2515 to 2520
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/BigData.2018.8622466
