No abstract

Multi-object tracking is a crucial problem for autonomous vehicle. Most state-of-the-art approaches adopt the tracking-by-detection strategy, which is a two-step procedure consisting of the detection module and the tracking module. In this paper, we improve both steps. We improve the detection module by incorporating the temporal information, which is beneficial for detecting small objects. For the tracking module, we propose a novel compressed deep Convolutional Neural Network (CNN) feature based Correlation Filter tracker. By carefully integrating these two modules, the proposed multi-object tracking approach has the ability of re-identification (ReID) once the tracked object gets lost. Extensive experiments were performed on the KITTI and MOT2015 tracking benchmarks. Results indicate that our approach outperforms most state-of-the-art tracking approaches.

For autonomous driving, it is important to navigate in an unknown environment. In this paper, we propose a fully automated 2D simultaneous localization and mapping (SLAM) system based on lidar working in large-scale outdoor environments. To improve the accuracy and robustness of the scan matching module, an improved Correlative Scan Matching (CSM) algorithm is proposed. For efficient place recognition, we design an AdaBoost based loop closure detection algorithm which can efficiently reject false loop closures. For the SLAM back-end, we propose a light-weight graph optimization algorithm based on incremental smoothing and mapping (iSAM). The performance of our system is verified on various large-scale datasets including our real-world datasets and the KITTI odometry benchmark. Further comparisons to the state-of-the-art approaches indicate that our system is competitive with established techniques.

In this paper, we present a novel method for image annotation and made three contributions. Firstly, we propose to use the tags contained in the training images as the supervising information to guide the generation of random trees, thus enabling the retrieved nearest neighbor images not only visually alike but also semantically related. Secondly, different from conventional decision tree methods, which fuse the information contained at each leaf node individually, our method treats the random forest as a whole, and introduces the new concepts of semantic nearest neighbors (SNN) and semantic similarity measure (SSM). Thirdly, we annotate an image from the tags of its SNN based on SSM and have developed a novel learning to rank algorithm to systematically assign the optimal tags to the image. The new technique is intrinsically scalable and we will present experimental results to demonstrate that it is competitive to state of the art methods.

Abstract-In this paper, we propose a novel method to detect glandular structures in microscopic images of human tissue. We first convert the image from Cartesian space to polar space and then introduce a novel random field model to locate the possible boundary of a gland. Next, we develop a visual feature-based support vector regressor to verify if the detected contour corresponds to a true gland. And finally, we combine the outputs of the random field and the regressor to form the GlandVision algorithm for the detection of glandular structures. Our approach can not only detect the existence of the gland, but also can accurately locate it with pixel accuracy. In the experiments, we treat the task of detecting glandular structures as object (gland) detection and segmentation problems respectively. The results indicate that our new technique outperforms state-of-the-art computer vision algorithms in respective fields.