Brian A. Wandell

Zhenyi Liu, Devesh Shah, Brian Wandell

This paper describes a physics-based end-to-end software simulation for image systems. We use the software to explore sensors designed to enhance performance in high dynamic range (HDR) environments, such as driving through daytime tunnels and under nighttime conditions. We synthesize physically realistic HDR spectral radiance images and use them as the input to digital twins that model the optics and sensors of different systems. This paper makes three main contributions: (a) We create a labeled (instance segmentation and depth), synthetic radiance dataset of HDR driving scenes. (b) We describe the development and validation of the end-to-end simulation framework. (c) We present a comparative analysis of two single-shot sensors designed for HDR. We open-source both the dataset and the software.

Zhenyi Liu, Devesh Shah, Alireza Rahimpour et al.

The design and evaluation of complex systems can benefit from a software simulation - sometimes called a digital twin. The simulation can be used to characterize system performance or to test its performance under conditions that are difficult to measure (e.g., nighttime for automotive perception systems). We describe the image system simulation software tools that we use to evaluate the performance of image systems for object (automobile) detection. We describe experiments with 13 different cameras with a variety of optics and pixel sizes. To measure the impact of camera spatial resolution, we designed a collection of driving scenes that had cars at many different distances. We quantified system performance by measuring average precision and we report a trend relating system resolution and object detection performance. We also quantified the large performance degradation under nighttime conditions, compared to daytime, for all cameras and a COCO pre-trained network.

Zhenyi Liu, Minghao Shen, Jiaqi Zhang et al.

We describe an open-source simulator that creates sensor irradiance and sensor images of typical automotive scenes in urban settings. The purpose of the system is to support camera design and testing for automotive applications. The user can specify scene parameters (e.g., scene type, road type, traffic density, time of day) to assemble a large number of random scenes from graphics assets stored in a database. The sensor irradiance is generated using quantitative computer graphics methods, and the sensor images are created using image systems sensor simulation. The synthetic sensor images have pixel level annotations; hence, they can be used to train and evaluate neural networks for imaging tasks, such as object detection and classification. The end-to-end simulation system supports quantitative assessment, from scene to camera to network accuracy, for automotive applications.

Zhenyi Liu, Joyce Farrell, Brian Wandell

Autonomous driving applications use two types of sensor systems to identify vehicles - depth sensing LiDAR and radiance sensing cameras. We compare the performance (average precision) of a ResNet for vehicle detection in complex, daytime, driving scenes when the input is a depth map (D = d(x,y)), a radiance image (L = r(x,y)), or both [D,L]. (1) When the spatial sampling resolution of the depth map and radiance image are equal to typical camera resolutions, a ResNet detects vehicles at higher average precision from depth than radiance. (2) As the spatial sampling of the depth map declines to the range of current LiDAR devices, the ResNet average precision is higher for radiance than depth. (3) For a hybrid system that combines a depth map and radiance image, the average precision is higher than using depth or radiance alone. We established these observations in simulation and then confirmed them using realworld data. The advantage of combining depth and radiance can be explained by noting that the two type of information have complementary weaknesses. The radiance data are limited by dynamic range and motion blur. The LiDAR data have relatively low spatial resolution. The ResNet combines the two data sources effectively to improve overall vehicle detection.

Zhenyi Liu, Trisha Lian, Joyce Farrell et al.

We quantify the generalization of a convolutional neural network (CNN) trained to identify cars. First, we perform a series of experiments to train the network using one image dataset - either synthetic or from a camera - and then test on a different image dataset. We show that generalization between images obtained with different cameras is roughly the same as generalization between images from a camera and ray-traced multispectral synthetic images. Second, we use ISETAuto, a soft prototyping tool that creates ray-traced multispectral simulations of camera images, to simulate sensor images with a range of pixel sizes, color filters, acquisition and post-acquisition processing. These experiments reveal how variations in specific camera parameters and image processing operations impact CNN generalization. We find that (a) pixel size impacts generalization, (b) demosaicking substantially impacts performance and generalization for shallow (8-bit) bit-depths but not deeper ones (10-bit), and (c) the network performs well using raw (not demosaicked) sensor data for 10-bit pixels.

Fabian H. Reith, Brian A. Wandell

We investigate the performance of modern convolutional neural networks (CNN) and a linear support vector machine (SVM) with respect to spatial contrast sensitivity. Specifically, we compare CNN sensitivity to that of a Bayesian ideal observer (IO) with the signal-known-exactly and noise known statistically. A ResNet-18 reaches optimal performance for harmonic patterns, as well as several classes of real world signals including faces. For these stimuli the CNN substantially outperforms the SVM. We further analyzed the case in which the signal might appear in one of multiple locations and found that CNN spatial sensitivity continues to match the IO. However, the CNN sensitivity was far below optimal at detecting certain complex texture patterns. These measurements show that CNNs can have very large performance differences when detecting the presence of spatial patterns. These differences may have a significant impact on the performance of an imaging system designed to detect low contrast spatial patterns.

Zhenyi Liu, Trisha Lian, Joyce Farrell et al.

Imaging systems are increasingly used as input to convolutional neural networks (CNN) for object detection; we would like to design cameras that are optimized for this purpose. It is impractical to build different cameras and then acquire and label the necessary data for every potential camera design; creating software simulations of the camera in context (soft prototyping) is the only realistic approach. We implemented soft-prototyping tools that can quantitatively simulate image radiance and camera designs to create realistic images that are input to a convolutional neural network for car detection. We used these methods to quantify the effect that critical hardware components (pixel size), sensor control (exposure algorithms) and image processing (gamma and demosaicing algorithms) have upon average precision of car detection. We quantify (a) the relationship between pixel size and the ability to detect cars at different distances, (b) the penalty for choosing a poor exposure duration, and (c) the ability of the CNN to perform car detection for a variety of post-acquisition processing algorithms. These results show that the optimal choices for car detection are not constrained by the same metrics used for image quality in consumer photography. It is better to evaluate camera designs for CNN applications using soft prototyping with task-specific metrics rather than consumer photography metrics.

Haomiao Jiang, Qiyuan Tian, Joyce Farrell et al.

Many creative ideas are being proposed for image sensor designs, and these may be useful in applications ranging from consumer photography to computer vision. To understand and evaluate each new design, we must create a corresponding image processing pipeline that transforms the sensor data into a form that is appropriate for the application. The need to design and optimize these pipelines is time-consuming and costly. We explain a method that combines machine learning and image systems simulation that automates the pipeline design. The approach is based on a new way of thinking of the image processing pipeline as a large collection of local linear filters. We illustrate how the method has been used to design pipelines for novel sensor architectures in consumer photography applications.

Henryk Blasinski, Joyce Farrell, Brian Wandell

There is widespread interest in estimating the fluorescence properties of natural materials in an image. However, the separation between reflected and fluoresced components is difficult, because it is impossible to distinguish reflected and fluoresced photons without controlling the illuminant spectrum. We show how to jointly estimate the reflectance and fluorescence from a single set of images acquired under multiple illuminants. We present a framework based on a linear approximation to the physical equations describing image formation in terms of surface spectral reflectance and fluorescence due to multiple fluorophores. We relax the non-convex, inverse estimation problem in order to jointly estimate the reflectance and fluorescence properties in a single optimization step and we use the Alternating Direction Method of Multipliers (ADMM) approach to efficiently find a solution. We provide a software implementation of the solver for our method and prior methods. We evaluate the accuracy and reliability of the method using both simulations and experimental data. To acquire data to test the methods, we built a custom imaging system using a monochrome camera, a filter wheel with bandpass transmissive filters and a small number of light emitting diodes. We compared the system and algorithm performance with the ground truth as well as with prior methods. Our approach produces lower errors compared to earlier algorithms.