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1. Exploiting Playbacks in Unsupervised Domain Adaptation for 3D Object Detection

   You, Yurong ; Diaz-Ruiz, Carlos A. ; Wang, Yan ; Chao, Wei-Lun ; Hariharan, Bharath ; Campbell, Mark ; Weinberger, Kilian Q. ( April 2022 , Proceedings of the IEEE International Conference on Robotics and Automation)

   Self-driving cars must detect other traffic partici- pants like vehicles and pedestrians in 3D in order to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit domain idiosyncrasies, making them fail in new environments—a serious problem for the robustness of self-driving cars. In this paper, we propose a novel learning approach that reduces this gap by fine-tuning the detector on high-quality pseudo-labels in the target domain – pseudo- labels that are automatically generated after driving based on replays of previously recorded driving sequences. In these replays, object tracks are smoothed forward and backward in time, and detections are interpolated and extrapolated— crucially, leveraging future information to catch hard cases such as missed detections due to occlusions or far ranges. We show, across five autonomous driving datasets, that fine-tuning the object detector on these pseudo-labels substantially reduces the domain gap to new driving environments, yielding strong improvements detection reliability and accuracy. 

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2. Unsupervised Adaptation from Repeated Traversals for Autonomous Driving

   You, Yurong ; Phoo, Cheng Perng ; Luo, Katie ; Zhang, Travis ; Chao, Wei-Lun ; Hariharan, Bharath ; Campbell, Mark ; Weinberger, Kilian Q. ( January 2022 , Advances in neural information processing systems)

   For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment---ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (eg, unlabeled LiDAR point clouds) collected from the end-users' environments (ie target domain) to adapt the system to the difference between training and testing environments. While extensive research has been done on such an unsupervised domain adaptation problem, one fundamental problem lingers: there is no reliable signal in the target domain to supervise the adaptation process. To overcome this issue we observe that it is easy to collect unsupervised data from multiple traversals of repeated routes. While different from conventional unsupervised domain adaptation, this assumption is extremely realistic since many drivers share the same roads. We show that this simple additional assumption is sufficient to obtain a potent signal that allows us to perform iterative self-training of 3D object detectors on the target domain. Concretely, we generate pseudo-labels with the out-of-domain detector but reduce false positives by removing detections of supposedly mobile objects that are persistent across traversals. Further, we reduce false negatives by encouraging predictions in regions that are not persistent. We experiment with our approach on two large-scale driving datasets and show remarkable improvement in 3D object detection of cars, pedestrians, and cyclists, bringing us a step closer to generalizable autonomous driving. 

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3. Smart Traffic Management System using Deep Learning for Smart City Applications

   https://doi.org/10.1109/CCWC.2019.8666539  

   Lingani, Guy M. ; Rawat, Danda B. ; Garuba, Moses ( January 2019 , 2019 IEEE 9th Annual Computing and Communication Workshop and Conference (CCWC))

   Already known as densely populated areas with land use including housing, transportation, sanitation, utilities and communication, nowadays, cities tend to grow even bigger. Genuine road-user's types are emerging with further technological developments to come. As cities population size escalates, and roads getting congested, government agencies such as Department of Transportation (DOT) through the National Highway Traffic Safety Administration (NHTSA) are in pressing need to perfect their management systems with new efficient technologies. The challenge is to anticipate on never before seen problems, in their effort to save lives and implement sustainable cost-effective management systems. To make things yet more complicated and a bit daunting, self-driving car will be authorized in a close future in crowded major cities where roads are to be shared among pedestrians, cyclists, cars, and trucks. Roads sizes and traffic signaling will need to be constantly adapted accordingly. Counting and classifying turning vehicles and pedestrians at an intersection is an exhausting task and despite traffic monitoring systems use, human interaction is heavily required for counting. Our approach to resolve traffic intersection turning-vehicles counting is less invasive, requires no road dig up or costly installation. Live or recorded videos from already installed camera all over the cities can be used as well as any camera including cellphones. Our system is based on Neural Network and Deep Learning of object detection along computer vision technology and several methods and algorithms. Our approach will work on still images, recorded-videos, real-time live videos and will detect, classify, track and compute moving object velocity and direction using convolution neural network. Created based upon series of algorithms modeled after the human brain, our system uses NVIDIA Video cards with GPU, CUDA, OPENCV and mathematical vectors systems to perform. 

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4. Florida mangrove saltmarsh reference surface soils

   https://doi.org/10.6073/pasta/0e08cbe07c84488cb7b9dd16669946d0  

   Lewis, David Bruce ( January 2021 , Environmental Data Initiative)

   Site description. This data package consists of data obtained from sampling surface soil (the 0-7.6 cm depth profile) in black mangrove (Avicennia germinans) dominated forest and black needlerush (Juncus roemerianus) saltmarsh along the Gulf of Mexico coastline in peninsular west-central Florida, USA. This location has a subtropical climate with mean daily temperatures ranging from 15.4 °C in January to 27.8 °C in August, and annual precipitation of 1336 mm. Precipitation falls as rain primarily between June and September. Tides are semi-diurnal, with 0.57 m median amplitudes during the year preceding sampling (U.S. NOAA National Ocean Service, Clearwater Beach, Florida, station 8726724). Sea-level rise is 4.0 ± 0.6 mm per year (1973-2020 trend, mean ± 95 % confidence interval, NOAA NOS Clearwater Beach station). The A. germinans mangrove zone is either adjacent to water or fringed on the seaward side by a narrow band of red mangrove (Rhizophora mangle). A near-monoculture of J. roemerianus is often adjacent to and immediately landward of the A. germinans zone. The transition from the mangrove to the J. roemerianus zone is variable in our study area. An abrupt edge between closed-canopy mangrove and J. roemerianus monoculture may extend for up to several hundred meters in some locations, while other stretches of ecotone present a gradual transition where smaller, widely spaced trees are interspersed into the herbaceous marsh. Juncus roemerianus then extends landward to a high marsh patchwork of succulent halophytes (including Salicornia bigellovi, Sesuvium sp., and Batis maritima), scattered dwarf mangrove, and salt pans, followed in turn by upland vegetation that includes Pinus sp. and Serenoa repens. Field design and sample collection. We established three study sites spaced at approximately 5 km intervals along the western coastline of the central Florida peninsula. The sites consisted of the Salt Springs (28.3298°, -82.7274°), Energy Marine Center (28.2903°, -82.7278°), and Green Key (28.2530°, -82.7496°) sites on the Gulf of Mexico coastline in Pasco County, Florida, USA. At each site, we established three plot pairs, each consisting of one saltmarsh plot and one mangrove plot. Plots were 50 m^2 in size. Plots pairs within a site were separated by 230-1070 m, and the mangrove and saltmarsh plots composing a pair were 70-170 m apart. All plot pairs consisted of directly adjacent patches of mangrove forest and J. roemerianus saltmarsh, with the mangrove forests exhibiting a closed canopy and a tree architecture (height 4-6 m, crown width 1.5-3 m). Mangrove plots were located at approximately the midpoint between the seaward edge (water-mangrove interface) and landward edge (mangrove-marsh interface) of the mangrove zone. Saltmarsh plots were located 20-25 m away from any mangrove trees and into the J. roemerianus zone (i.e., landward from the mangrove-marsh interface). Plot pairs were coarsely similar in geomorphic setting, as all were located on the Gulf of Mexico coastline, rather than within major sheltering formations like Tampa Bay, and all plot pairs fit the tide-dominated domain of the Woodroffe classification (Woodroffe, 2002, "Coasts: Form, Process and Evolution", Cambridge University Press), given their conspicuous semi-diurnal tides. There was nevertheless some geomorphic variation, as some plot pairs were directly open to the Gulf of Mexico while others sat behind keys and spits or along small tidal creeks. Our use of a plot-pair approach is intended to control for this geomorphic variation. Plot center elevations (cm above mean sea level, NAVD 88) were estimated by overlaying the plot locations determined with a global positioning system (Garmin GPS 60, Olathe, KS, USA) on a LiDAR-derived bare-earth digital elevation model (Dewberry, Inc., 2019). The digital elevation model had a vertical accuracy of ± 10 cm (95 % CI) and a horizontal accuracy of ± 116 cm (95 % CI). Soil samples were collected via coring at low tide in June 2011. From each plot, we collected a composite soil sample consisting of three discrete 5.1 cm diameter soil cores taken at equidistant points to 7.6 cm depth. Cores were taken by tapping a sleeve into the soil until its top was flush with the soil surface, sliding a hand under the core, and lifting it up. Cores were then capped and transferred on ice to our laboratory at the University of South Florida (Tampa, Florida, USA), where they were combined in plastic zipper bags, and homogenized by hand into plot-level composite samples on the day they were collected. A damp soil subsample was immediately taken from each composite sample to initiate 1 y incubations for determination of active C and N (see below). The remainder of each composite sample was then placed in a drying oven (60 °C) for 1 week with frequent mixing of the soil to prevent aggregation and liberate water. Organic wetland soils are sometimes dried at 70 °C, however high drying temperatures can volatilize non-water liquids and oxidize and decompose organic matter, so 50 °C is also a common drying temperature for organic soils (Gardner 1986, "Methods of Soil Analysis: Part 1", Soil Science Society of America); we accordingly chose 60 °C as a compromise between sufficient water removal and avoidance of non-water mass loss. Bulk density was determined as soil dry mass per core volume (adding back the dry mass equivalent of the damp subsample removed prior to drying). Dried subsamples were obtained for determination of soil organic matter (SOM), mineral texture composition, and extractable and total carbon (C) and nitrogen (N) within the following week. Sample analyses. A dried subsample was apportioned from each composite sample to determine SOM as mass loss on ignition at 550 °C for 4 h. After organic matter was removed from soil via ignition, mineral particle size composition was determined using a combination of wet sieving and density separation in 49 mM (3 %) sodium hexametaphosphate ((NaPO_3)_6) following procedures in Kettler et al. (2001, Soil Science Society of America Journal 65, 849-852). The percentage of dry soil mass composed of silt and clay particles (hereafter, fines) was calculated as the mass lost from dispersed mineral soil after sieving (0.053 mm mesh sieve). Fines could have been slightly underestimated if any clay particles were burned off during the preceding ignition of soil. An additional subsample was taken from each composite sample to determine extractable N and organic C concentrations via 0.5 M potassium sulfate (K_2SO_4) extractions. We combined soil and extractant (ratio of 1 g dry soil:5 mL extractant) in plastic bottles, reciprocally shook the slurry for 1 h at 120 rpm, and then gravity filtered it through Fisher G6 (1.6 μm pore size) glass fiber filters, followed by colorimetric detection of nitrite (NO_2^-) + nitrate (NO_3^-) and ammonium (NH_4^+) in the filtrate (Hood Nowotny et al., 2010,Soil Science Society of America Journal 74, 1018-1027) using a microplate spectrophotometer (Biotek Epoch, Winooski, VT, USA). Filtrate was also analyzed for dissolved organic C (referred to hereafter as extractable organic C) and total dissolved N via combustion and oxidation followed by detection of the evolved CO_2 and N oxide gases on a Formacs HT TOC/TN analyzer (Skalar, Breda, The Netherlands). Extractable organic N was then computed as total dissolved N in filtrate minus extractable mineral N (itself the sum of extractable NH_4-N and NO_2-N + NO_3-N). We determined soil total C and N from dried, milled subsamples subjected to elemental analysis (ECS 4010, Costech, Inc., Valencia, CA, USA) at the University of South Florida Stable Isotope Laboratory. Median concentration of inorganic C in unvegetated surface soil at our sites is 0.5 % of soil mass (Anderson, 2019, Univ. of South Florida M.S. thesis via methods in Wang et al., 2011, Environmental Monitoring and Assessment 174, 241-257). Inorganic C concentrations are likely even lower in our samples from under vegetation, where organic matter would dilute the contribution of inorganic C to soil mass. Nevertheless, the presence of a small inorganic C pool in our soils may be counted in the total C values we report. Extractable organic C is necessarily of organic C origin given the method (sparging with HCl) used in detection. Active C and N represent the fractions of organic C and N that are mineralizable by soil microorganisms under aerobic conditions in long-term soil incubations. To quantify active C and N, 60 g of field-moist soil were apportioned from each composite sample, placed in a filtration apparatus, and incubated in the dark at 25 °C and field capacity moisture for 365 d (as in Lewis et al., 2014, Ecosphere 5, art59). Moisture levels were maintained by frequently weighing incubated soil and wetting them up to target mass. Daily CO_2 flux was quantified on 29 occasions at 0.5-3 week intervals during the incubation period (with shorter intervals earlier in the incubation), and these per day flux rates were integrated over the 365 d period to compute an estimate of active C. Observations of per day flux were made by sealing samples overnight in airtight chambers fitted with septa and quantifying headspace CO_2 accumulation by injecting headspace samples (obtained through the septa via needle and syringe) into an infrared gas analyzer (PP Systems EGM 4, Amesbury, MA, USA). To estimate active N, each incubated sample was leached with a C and N free, 35 psu solution containing micronutrients (Nadelhoffer, 1990, Soil Science Society of America Journal 54, 411-415) on 19 occasions at increasing 1-6 week intervals during the 365 d incubation, and then extracted in 0.5 M K_2SO_4 at the end of the incubation in order to remove any residual mineral N. Active N was then quantified as the total mass of mineral N leached and extracted. Mineral N in leached and extracted solutions was detected as NH_4-N and NO_2-N + NO_3-N via colorimetry as above. This incubation technique precludes new C and N inputs and persistently leaches mineral N, forcing microorganisms to meet demand by mineralizing existing pools, and thereby directly assays the potential activity of soil organic C and N pools present at the time of soil sampling. Because this analysis commences with disrupting soil physical structure, it is biased toward higher estimates of active fractions. Calculations. Non-mobile C and N fractions were computed as total C and N concentrations minus the extractable and active fractions of each element. This data package reports surface-soil constituents (moisture, fines, SOM, and C and N pools and fractions) in both gravimetric units (mass constituent / mass soil) and areal units (mass constituent / soil surface area integrated through 7.6 cm soil depth, the depth of sampling). Areal concentrations were computed as X × D × 7.6, where X is the gravimetric concentration of a soil constituent, D is soil bulk density (g dry soil / cm^3), and 7.6 is the sampling depth in cm. 

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5. 3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection

   Wang, He ; Cong, Yezhen ; Litany, Or ; Gao, Yue ; Guibas, Leonidas ( January 2021 , Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition)

   null (Ed.)

   3D object detection is an important yet demanding task that heavily relies on difficult to obtain 3D annotations. To reduce the required amount of supervision, we propose 3DIoUMatch, a novel semi-supervised method for 3D object detection applicable to both indoor and outdoor scenes. We leverage a teacher-student mutual learning framework to propagate information from the labeled to the unlabeled train set in the form of pseudo-labels. However, due to the high task complexity, we observe that the pseudo-labels suffer from significant noise and are thus not directly usable. To that end, we introduce a confidence-based filtering mechanism, inspired by FixMatch. We set confidence thresholds based upon the predicted objectness and class probability to filter low-quality pseudo-labels. While effective, we observe that these two measures do not sufficiently capture localization quality. We therefore propose to use the estimated 3D IoU as a localization metric and set category-aware self-adjusted thresholds to filter poorly localized proposals. We adopt VoteNet as our backbone detector on indoor datasets while we use PV-RCNN on the autonomous driving dataset, KITTI. Our method consistently improves state-of-the-art methods on both ScanNet and SUN-RGBD benchmarks by significant margins under all label ratios (including fully labeled setting). For example, when training using only 10% labeled data on ScanNet, 3DIoUMatch achieves 7.7 absolute improvement on mAP@0.25 and 8.5 absolute improvement on mAP@0.5 upon the prior art. On KITTI, we are the first to demonstrate semi-supervised 3D object detection and our method surpasses a fully supervised baseline from 1.8% to 7.6% under different label ratio and categories. 

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