Junan Chen

Carlos A. Diaz-Ruiz, Youya Xia, Yurong You et al.

Advances in perception for self-driving cars have accelerated in recent years due to the availability of large-scale datasets, typically collected at specific locations and under nice weather conditions. Yet, to achieve the high safety requirement, these perceptual systems must operate robustly under a wide variety of weather conditions including snow and rain. In this paper, we present a new dataset to enable robust autonomous driving via a novel data collection process - data is repeatedly recorded along a 15 km route under diverse scene (urban, highway, rural, campus), weather (snow, rain, sun), time (day/night), and traffic conditions (pedestrians, cyclists and cars). The dataset includes images and point clouds from cameras and LiDAR sensors, along with high-precision GPS/INS to establish correspondence across routes. The dataset includes road and object annotations using amodal masks to capture partial occlusions and 3D bounding boxes. We demonstrate the uniqueness of this dataset by analyzing the performance of baselines in amodal segmentation of road and objects, depth estimation, and 3D object detection. The repeated routes opens new research directions in object discovery, continual learning, and anomaly detection. Link to Ithaca365: https://ithaca365.mae.cornell.edu/

Yurong You, Katie Z Luo, Xiangyu Chen et al.

Self-driving cars must detect vehicles, pedestrians, and other traffic participants accurately to operate safely. Small, far-away, or highly occluded objects are particularly challenging because there is limited information in the LiDAR point clouds for detecting them. To address this challenge, we leverage valuable information from the past: in particular, data collected in past traversals of the same scene. We posit that these past data, which are typically discarded, provide rich contextual information for disambiguating the above-mentioned challenging cases. To this end, we propose a novel, end-to-end trainable Hindsight framework to extract this contextual information from past traversals and store it in an easy-to-query data structure, which can then be leveraged to aid future 3D object detection of the same scene. We show that this framework is compatible with most modern 3D detection architectures and can substantially improve their average precision on multiple autonomous driving datasets, most notably by more than 300% on the challenging cases.

Junan Chen, Matteo Ronchetti, Verena Stehl et al.

Recent developments in the registration of histology and micro-computed tomography (μCT) have broadened the perspective of pathological applications such as virtual histology based on μCT. This topic remains challenging because of the low image quality of soft tissue CT. Additionally, soft tissue samples usually deform during the histology slide preparation, making it difficult to correlate the structures between histology slide and μCT. In this work, we propose a novel 2D-3D multi-modal deformable image registration method. The method uses a machine learning (ML) based initialization followed by the registration. The registration is finalized by an analytical out-of-plane deformation refinement. The method is evaluated on datasets acquired from tonsil and tumor tissues. μCTs of both phase-contrast and conventional absorption modalities are investigated. The registration results from the proposed method are compared with those from intensity- and keypoint-based methods. The comparison is conducted using both visual and fiducial-based evaluations. The proposed method demonstrates superior performance compared to the other two methods.

Chao Liu, Heming Sun, Junan Chen et al.

In this paper, a dual learning-based method in intra coding is introduced for PCS Grand Challenge. This method is mainly composed of two parts: intra prediction and reconstruction filtering. They use different network structures, the neural network-based intra prediction uses the full-connected network to predict the block while the neural network-based reconstruction filtering utilizes the convolutional networks. Different with the previous filtering works, we use a network with more powerful feature extraction capabilities in our reconstruction filtering network. And the filtering unit is the block-level so as to achieve a more accurate filtering compensation. To our best knowledge, among all the learning-based methods, this is the first attempt to combine two different networks in one application, and we achieve the state-of-the-art performance for AI configuration on the HEVC Test sequences. The experimental result shows that our method leads to significant BD-rate saving for provided 8 sequences compared to HM-16.20 baseline (average 10.24% and 3.57% bitrate reductions for all-intra and random-access coding, respectively). For HEVC test sequences, our model also achieved a 9.70% BD-rate saving compared to HM-16.20 baseline for all-intra configuration.