Matching Items (14)
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- All Subjects: deep learning
- Creators: Turaga, Pavan
Description
The autonomous vehicle technology has come a long way, but currently, there are no companies that are able to offer fully autonomous ride in any conditions, on any road without any human supervision. These systems should be extensively trained and validated to guarantee safe human transportation. Any small errors in the system functionality may lead to fatal accidents and may endanger human lives. Deep learning methods are widely used for environment perception and prediction of hazardous situations. These techniques require huge amount of training data with both normal and abnormal samples to enable the vehicle to avoid a dangerous situation.
The goal of this thesis is to generate simulations from real-world tricky collision scenarios for training and testing autonomous vehicles. Dashcam crash videos from the internet can now be utilized to extract valuable collision data and recreate the crash scenarios in a simulator. The problem of extracting 3D vehicle trajectories from videos recorded by an unknown monocular camera source is solved using a modular approach. The framework is divided into two stages: (a) extracting meaningful adversarial trajectories from short crash videos, and (b) developing methods to automatically process and simulate the vehicle trajectories on a vehicle simulator.
The goal of this thesis is to generate simulations from real-world tricky collision scenarios for training and testing autonomous vehicles. Dashcam crash videos from the internet can now be utilized to extract valuable collision data and recreate the crash scenarios in a simulator. The problem of extracting 3D vehicle trajectories from videos recorded by an unknown monocular camera source is solved using a modular approach. The framework is divided into two stages: (a) extracting meaningful adversarial trajectories from short crash videos, and (b) developing methods to automatically process and simulate the vehicle trajectories on a vehicle simulator.
ContributorsBashetty, Sai Krishna (Author) / Fainkeos, Georgios (Thesis advisor) / Amor, Heni Ben (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2019
Description
Over the last decade, deep neural networks also known as deep learning, combined with large databases and specialized hardware for computation, have made major strides in important areas such as computer vision, computational imaging and natural language processing. However, such frameworks currently suffer from some drawbacks. For example, it is generally not clear how the architectures are to be designed for different applications, or how the neural networks behave under different input perturbations and it is not easy to make the internal representations and parameters more interpretable. In this dissertation, I propose building constraints into feature maps, parameters and and design of algorithms involving neural networks for applications in low-level vision problems such as compressive imaging and multi-spectral image fusion, and high-level inference problems including activity and face recognition. Depending on the application, such constraints can be used to design architectures which are invariant/robust to certain nuisance factors, more efficient and, in some cases, more interpretable. Through extensive experiments on real-world datasets, I demonstrate these advantages of the proposed methods over conventional frameworks.
ContributorsLohit, Suhas Anand (Author) / Turaga, Pavan (Thesis advisor) / Spanias, Andreas (Committee member) / Li, Baoxin (Committee member) / Jayasuriya, Suren (Committee member) / Arizona State University (Publisher)
Created2019
Description
Antibiotic resistance is a very important issue that threatens mankind. As bacteria
are becoming resistant to multiple antibiotics, many common antibiotics will soon
become ineective. The ineciency of current methods for diagnostics is an important
cause of antibiotic resistance, since due to their relative slowness, treatment plans
are often based on physician's experience rather than on test results, having a high
chance of being inaccurate or not optimal. This leads to a need of faster, pointof-
care (POC) methods, which can provide results in a few hours. Motivated by
recent advances on computer vision methods, three projects have been developed
for bacteria identication and antibiotic susceptibility tests (AST), with the goal of
speeding up the diagnostics process. The rst two projects focus on obtaining features
from optical microscopy such as bacteria shape and motion patterns to distinguish
active and inactive cells. The results show their potential as novel methods for AST,
being able to obtain results within a window of 30 min to 3 hours, a much faster
time frame than the gold standard approach based on cell culture, which takes at
least half a day to be completed. The last project focus on the identication task,
combining large volume light scattering microscopy (LVM) and deep learning to
distinguish bacteria from urine particles. The developed setup is suitable for pointof-
care applications, as a large volume can be viewed at a time, avoiding the need
for cell culturing or enrichment. This is a signicant gain compared to cell culturing
methods. The accuracy performance of the deep learning system is higher than chance
and outperforms a traditional machine learning system by up to 20%.
are becoming resistant to multiple antibiotics, many common antibiotics will soon
become ineective. The ineciency of current methods for diagnostics is an important
cause of antibiotic resistance, since due to their relative slowness, treatment plans
are often based on physician's experience rather than on test results, having a high
chance of being inaccurate or not optimal. This leads to a need of faster, pointof-
care (POC) methods, which can provide results in a few hours. Motivated by
recent advances on computer vision methods, three projects have been developed
for bacteria identication and antibiotic susceptibility tests (AST), with the goal of
speeding up the diagnostics process. The rst two projects focus on obtaining features
from optical microscopy such as bacteria shape and motion patterns to distinguish
active and inactive cells. The results show their potential as novel methods for AST,
being able to obtain results within a window of 30 min to 3 hours, a much faster
time frame than the gold standard approach based on cell culture, which takes at
least half a day to be completed. The last project focus on the identication task,
combining large volume light scattering microscopy (LVM) and deep learning to
distinguish bacteria from urine particles. The developed setup is suitable for pointof-
care applications, as a large volume can be viewed at a time, avoiding the need
for cell culturing or enrichment. This is a signicant gain compared to cell culturing
methods. The accuracy performance of the deep learning system is higher than chance
and outperforms a traditional machine learning system by up to 20%.
ContributorsIriya, Rafael (Author) / Turaga, Pavan (Thesis advisor) / Wang, Shaopeng (Committee member) / Grys, Thomas (Committee member) / Zhang, Yanchao (Committee member) / Arizona State University (Publisher)
Created2020
Description
The ability to identify unoccupied resources in the radio spectrum is a key capability for opportunistic users in a cognitive radio environment. This paper draws upon and extends geometrically based ideas in statistical signal processing to develop estimators for the rank and the occupied subspace in a multi-user environment from multiple temporal samples of the signal received at a single antenna. These estimators enable identification of resources, such as the orthogonal complement of the occupied subspace, that may be exploitable by an opportunistic user. This concept is supported by simulations showing the estimation of the number of users in a simple CDMA system using a maximum a posteriori (MAP) estimate for the rank. It was found that with suitable parameters, such as high SNR, sufficient number of time epochs and codes of appropriate length, the number of users could be correctly estimated using the MAP estimator even when the noise variance is unknown. Additionally, the process of identifying the maximum likelihood estimate of the orthogonal projector onto the unoccupied subspace is discussed.
ContributorsBeaudet, Kaitlyn (Author) / Cochran, Douglas (Thesis advisor) / Turaga, Pavan (Committee member) / Berisha, Visar (Committee member) / Arizona State University (Publisher)
Created2014