Alireza Ahrabian

Alireza Ahrabian, Nazli Farajidavar, Clive Cheong-Took et al.

This work develops techniques for the sequential detection and location estimation of transient changes in the volatility (standard deviation) of time series data. In particular, we introduce a class of change detection algorithms based on the windowed volatility filter. The first method detects changes by employing a convex combination of two such filters with differing window sizes, such that the adaptively updated convex weight parameter is then used as an indicator for the detection of instantaneous power changes. Moreover, the proposed adaptive filtering based method is readily extended to the multivariate case by using recent advances in distributed adaptive filters, thereby using cooperation between the data channels for more effective detection of change points. Furthermore, this work also develops a novel change point location estimator based on the differenced output of the volatility filter. Finally, the performance of the proposed methods were evaluated on both synthetic and real world data.

Marcel Sheeny, Emanuele De Pellegrin, Saptarshi Mukherjee et al.

Datasets for autonomous cars are essential for the development and benchmarking of perception systems. However, most existing datasets are captured with camera and LiDAR sensors in good weather conditions. In this paper, we present the RAdar Dataset In Adverse weaThEr (RADIATE), aiming to facilitate research on object detection, tracking and scene understanding using radar sensing for safe autonomous driving. RADIATE includes 3 hours of annotated radar images with more than 200K labelled road actors in total, on average about 4.6 instances per radar image. It covers 8 different categories of actors in a variety of weather conditions (e.g., sun, night, rain, fog and snow) and driving scenarios (e.g., parked, urban, motorway and suburban), representing different levels of challenge. To the best of our knowledge, this is the first public radar dataset which provides high-resolution radar images on public roads with a large amount of road actors labelled. The data collected in adverse weather, e.g., fog and snowfall, is unique. Some baseline results of radar based object detection and recognition are given to show that the use of radar data is promising for automotive applications in bad weather, where vision and LiDAR can fail. RADIATE also has stereo images, 32-channel LiDAR and GPS data, directed at other applications such as sensor fusion, localisation and mapping. The public dataset can be accessed at http://pro.hw.ac.uk/radiate/.

Alireza Ahrabian, Joao F. C. Mota, Andrew M. Wallace

We propose a method that combines sparse depth (LiDAR) measurements with an intensity image and to produce a dense high-resolution depth image. As there are few, but accurate, depth measurements from the scene, our method infers the remaining depth values by incorporating information from the intensity image, namely the magnitudes and directions of the identified edges, and by assuming that the scene is composed mostly of flat surfaces. Such inference is achieved by solving a convex optimisation problem with properly weighted regularisers that are based on the `1-norm (specifically, on total variation). We solve the resulting problem with a computationally efficient ADMM-based algorithm. Using the SYNTHIA and KITTI datasets, our experiments show that the proposed method achieves a depth reconstruction performance comparable to or better than other model-based methods.

Alireza Ahrabian, Shirin Enshaeifar, Clive Cheong-Took et al.

This work addresses the problem of segmentation in time series data with respect to a statistical parameter of interest in Bayesian models. It is common to assume that the parameters are distinct within each segment. As such, many Bayesian change point detection models do not exploit the segment parameter patterns, which can improve performance. This work proposes a Bayesian mean-shift change point detection algorithm that makes use of repetition in segment parameters, by introducing segment class labels that utilise a Dirichlet process prior. The performance of the proposed approach was assessed on both synthetic and real world data, highlighting the enhanced performance when using parameter labelling.