Guanhua Ding

Bing Zhu, Zixin He, Weiyi Xiong et al.

Millimeter wave (mmWave) radar is a non-intrusive privacy and relatively convenient and inexpensive device, which has been demonstrated to be applicable in place of RGB cameras in human indoor pose estimation tasks. However, mmWave radar relies on the collection of reflected signals from the target, and the radar signals containing information is difficult to be fully applied. This has been a long-standing hindrance to the improvement of pose estimation accuracy. To address this major challenge, this paper introduces a probability map guided multi-format feature fusion model, ProbRadarM3F. This is a novel radar feature extraction framework using a traditional FFT method in parallel with a probability map based positional encoding method. ProbRadarM3F fuses the traditional heatmap features and the positional features, then effectively achieves the estimation of 14 keypoints of the human body. Experimental evaluation on the HuPR dataset proves the effectiveness of the model proposed in this paper, outperforming other methods experimented on this dataset with an AP of 69.9 %. The emphasis of our study is focusing on the position information that is not exploited before in radar singal. This provides direction to investigate other potential non-redundant information from mmWave rader.

Guanhua Ding, Yuxuan Xia, Runwei Guan et al.

Accurate 3D multi-object tracking (MOT) is crucial for autonomous driving, as it enables robust perception, navigation, and planning in complex environments. While deep learning-based solutions have demonstrated impressive 3D MOT performance, model-based approaches remain appealing for their simplicity, interpretability, and data efficiency. Conventional model-based trackers typically rely on random vector-based Bayesian filters within the tracking-by-detection (TBD) framework but face limitations due to heuristic data association and track management schemes. In contrast, random finite set (RFS)-based Bayesian filtering handles object birth, survival, and death in a theoretically sound manner, facilitating interpretability and parameter tuning. In this paper, we present OptiPMB, a novel RFS-based 3D MOT method that employs an optimized Poisson multi-Bernoulli (PMB) filter while incorporating several key innovative designs within the TBD framework. Specifically, we propose a measurement-driven hybrid adaptive birth model for improved track initialization, employ adaptive detection probability parameters to effectively maintain tracks for occluded objects, and optimize density pruning and track extraction modules to further enhance overall tracking performance. Extensive evaluations on nuScenes and KITTI datasets show that OptiPMB achieves superior tracking accuracy compared with state-of-the-art methods, thereby establishing a new benchmark for model-based 3D MOT and offering valuable insights for future research on RFS-based trackers in autonomous driving.

Guanhua Ding, Zexi Ye, Zhen Zhong et al.

Block pruning, which eliminates contiguous blocks of weights, is a structural pruning method that can significantly enhance the performance of neural processing units (NPUs). In industrial applications, an ideal block pruning algorithm should meet three key requirements: (1) maintain high accuracy across diverse models and tasks, as machine learning deployments on edge devices are typically accuracy-critical; (2) offer precise control over resource constraints to facilitate user adoption; and (3) provide convergence guarantees to prevent performance instability. However, to the best of our knowledge, no existing block pruning algorithm satisfies all three requirements simultaneously. In this paper, we introduce SMART (Separate, Dynamic, and Differentiable) pruning, a novel algorithm designed to address this gap. SMART leverages both weight and activation information to enhance accuracy, employs a differentiable top-k operator for precise control of resource constraints, and offers convergence guarantees under mild conditions. Extensive experiments involving seven models, four datasets, three different block types, and three computer vision tasks demonstrate that SMART pruning achieves state-of-the-art performance in block pruning.