Zixu Zhang

Zixu Zhang, Jaime F. Fisac

Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning about potential hazards beyond the field of view is one of the most challenging issues in developing autonomous driving systems. This paper introduces a novel analytical approach that poses safe trajectory planning under occlusions as a hybrid zero-sum dynamic game between the autonomous vehicle (evader) and an initially hidden traffic participant (pursuer). Due to occlusions, the pursuer's state is initially unknown to the evader and may later be discovered by the vehicle's sensors. The analysis yields optimal strategies for both players as well as the set of initial conditions from which the autonomous vehicle is guaranteed to avoid collisions. We leverage this theoretical result to develop a novel trajectory planning framework for autonomous driving that provides worst-case safety guarantees while minimizing conservativeness by accounting for the vehicle's ability to actively avoid other road users as soon as they are detected in future observations. Our framework is agnostic to the driving environment and suitable for various motion planners. We demonstrate our algorithm on challenging urban and highway driving scenarios using the open-source CARLA simulator.

Yuanyuan Peng, Pengpeng Luan, Zixu Zhang

Accurately segmenting blood vessels in retinal fundus images is crucial in the early screening, diagnosing, and evaluating some ocular diseases, yet it poses a nontrivial uncertainty for the segmentation task due to various factors such as significant light variations, uneven curvilinear structures, and non-uniform contrast. As a result, a multiple attention-guided fusion network (MAF-Net) is proposed to accurately detect blood vessels in retinal fundus images. Currently, traditional UNet-based models may lose partial information due to explicitly modeling long-distance dependencies, which may lead to unsatisfactory results. To enrich contextual information for the loss of scene information compensation, an attention fusion mechanism that combines the channel attention with spatial attention mechanisms constructed by Transformer is employed to extract various features of blood vessels from retinal fundus images. Subsequently, a unique spatial attention mechanism is applied in the skip connection to filter out redundant information and noise from low-level features, thus enabling better integration with high-level features. In addition, a DropOut layer is employed to randomly discard some neurons, which can prevent overfitting of the deep learning network and improve its generalization performance. Experimental results were verified in public datasets DRIVE, STARE and CHASEDB1 with F1 scores of 0.818, 0.836 and 0.811, and Acc values of 0.968, 0.973 and 0.973, respectively. Both visual inspection and quantitative evaluation demonstrate that our method produces satisfactory results compared to some state-of-the-art methods.