Jeremy P. Bos

Akhil Kurup, Jeremy Bos

For autonomous vehicles to viably replace human drivers they must contend with inclement weather. Falling rain and snow introduce noise in LiDAR returns resulting in both false positive and false negative object detections. In this article we introduce the Winter Adverse Driving dataSet (WADS) collected in the snow belt region of Michigan's Upper Peninsula. WADS is the first multi-modal dataset featuring dense point-wise labeled sequential LiDAR scans collected in severe winter weather; weather that would cause an experienced driver to alter their driving behavior. We have labelled and will make available over 7 GB or 3.6 billion labelled LiDAR points out of over 26 TB of total LiDAR and camera data collected. We also present the Dynamic Statistical Outlier Removal (DSOR) filter, a statistical PCL-based filter capable or removing snow with a higher recall than the state of the art snow de-noising filter while being 28\% faster. Further, the DSOR filter is shown to have a lower time complexity compared to the state of the art resulting in an improved scalability. Our labeled dataset and DSOR filter will be made available at https://bitbucket.org/autonomymtu/dsor_filter

Eisa Hedayati, Timothy C. Havens, Jeremy P. Bos

Light field imaging introduced the capability to refocus an image after capturing. Currently there are two popular methods for refocusing, shift-and-sum and Fourier slice methods. Neither of these two methods can refocus the light field in real-time without any pre-processing. In this paper we introduce a machine learning based refocusing technique that is capable of extracting 16 refocused images with refocusing parameters of α=0.125,0.250,0.375,...,2.0 in real-time. We have trained our network, which is called RefNet, in two experiments. Once using the Fourier slice method as the training -- i.e., "ground truth" -- data and another using the shift-and-sum method as the training data. We showed that in both cases, not only is the RefNet method at least 134x faster than previous approaches, but also the color prediction of RefNet is superior to both Fourier slice and shift-and-sum methods while having similar depth of field and focus distance performance.

Eisa Hedayati, Timothy C. Havens, Jeremy P. Bos

Light field (LF) imaging has gained significant attention due to its recent success in 3-dimensional (3D) displaying and rendering as well as augmented and virtual reality usage. Nonetheless, because of the two extra dimensions, LFs are much larger than conventional images. We develop a JPEG-assisted learning-based technique to reconstruct an LF from a JPEG bitstream with a bit per pixel ratio of 0.0047 on average. For compression, we keep the LF's center view and use JPEG compression with 50% quality. Our reconstruction pipeline consists of a small JPEG enhancement network (JPEG-Hance), a depth estimation network (Depth-Net), followed by view synthesizing by warping the enhanced center view. Our pipeline is significantly faster than using video compression on pseudo-sequences extracted from an LF, both in compression and decompression, while maintaining effective performance. We show that with a 1% compression time cost and 18x speedup for decompression, our methods reconstructed LFs have better structural similarity index metric (SSIM) and comparable peak signal-to-noise ratio (PSNR) compared to the state-of-the-art video compression techniques used to compress LFs.