Bin Yang

George Eskandar, Chongzhe Zhang, Abhishek Kaushik et al.

3D Object Detectors (3D-OD) are crucial for understanding the environment in many robotic tasks, especially autonomous driving. Including 3D information via Lidar sensors improves accuracy greatly. However, such detectors perform poorly on domains they were not trained on, i.e. different locations, sensors, weather, etc., limiting their reliability in safety-critical applications. There exist methods to adapt 3D-ODs to these domains; however, these methods treat 3D-ODs as a black box, neglecting underlying architectural decisions and source-domain training strategies. Instead, we dive deep into the details of 3D-ODs, focusing our efforts on fundamental factors that influence robustness prior to domain adaptation. We systematically investigate four design choices (and the interplay between them) often overlooked in 3D-OD robustness and domain adaptation: architecture, voxel encoding, data augmentations, and anchor strategies. We assess their impact on the robustness of nine state-of-the-art 3D-ODs across six benchmarks encompassing three types of domain gaps - sensor type, weather, and location. Our main findings are: (1) transformer backbones with local point features are more robust than 3D CNNs, (2) test-time anchor size adjustment is crucial for adaptation across geographical locations, significantly boosting scores without retraining, (3) source-domain augmentations allow the model to generalize to low-resolution sensors, and (4) surprisingly, robustness to bad weather is improved when training directly on more clean weather data than on training with bad weather data. We outline our main conclusions and findings to provide practical guidance on developing more robust 3D-ODs.

Kelvin Wong, Qiang Zhang, Ming Liang et al.

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs of the self-driving vehicle's perception and prediction system, enabling realistic motion planning testing. Specifically, we use paired data in the form of ground truth labels and real perception and prediction outputs to train a model that predicts what the online system will produce. Importantly, the inputs to our system consists of high definition maps, bounding boxes, and trajectories, which can be easily sketched by a test engineer in a matter of minutes. This makes our approach a much more scalable solution. Quantitative results on two large-scale datasets demonstrate that we can realistically test motion planning using our simulations.

Xiaogang Cheng, Bin Yang, Kaige Tan et al.

In human-centered intelligent building, real-time measurements of human thermal comfort play critical roles and supply feedback control signals for building heating, ventilation, and air conditioning (HVAC) systems. Due to the challenges of intra- and inter-individual differences and skin subtleness variations, there is no satisfactory solution for thermal comfort measurements until now. In this paper, a non-invasive measuring method based on skin sensitivity index and deep learning (NISDL) was proposed to measure real-time skin temperature. A new evaluating index, named skin sensitivity index (SSI), was defined to overcome individual differences and skin subtleness variations. To illustrate the effectiveness of SSI proposed, two multi-layers deep learning framework (NISDL method I and II) was designed and the DenseNet201 was used for extracting features from skin images. The partly personal saturation temperature (NIPST) algorithm was use for algorithm comparisons. Another deep learning algorithm without SSI (DL) was also generated for algorithm comparisons. Finally, a total of 1.44 million image data was used for algorithm validation. The results show that 55.6180% and 52.2472% error values (NISDL method I, II) are scattered at [0, 0.25), and the same error intervals distribution of NIPST is 35.3933%.

Bin Yang, Xiaogang Cheng, Dengxin Dai et al.

Individual thermal comfort perception gives important feedback signals for energy efficient control of smart buildings. However, there is no effective method to measure real-time thermal comfort status of individual occupant until now. For overcoming this challenge, a novel macro posed based non-invasive perception method for thermal comfort (NIMAP) was presented. The occupant pose images were captured by normal phone camera (computer or cell phone) and the corresponding 2D coordinates can be obtained. Based on this, a novel pose recognition algorithm for thermal comfort, including 12 sub-algorithms, was presented. The 12 thermal comfort related macro poses can be recognized. Further, based on Fanger theory, 369 subjects were invited for subjective questionnaire survey. 3 human occupants participated in the validation of the proposed method and massive data were collected. All the 12 thermal comfort related poses can be recognized effectively.

Xiaogang Cheng, Bin Yang, Anders Hedman et al.

Human thermal comfort measurement plays a critical role in giving feedback signals for building energy efficiency. A non-invasive measuring method based on subtleness magnification and deep learning (NIDL) was designed to achieve a comfortable, energy efficient built environment. The method relies on skin feature data, e.g., subtle motion and texture variation, and a 315-layer deep neural network for constructing the relationship between skin features and skin temperature. A physiological experiment was conducted for collecting feature data (1.44 million) and algorithm validation. The non-invasive measurement algorithm based on a partly-personalized saturation temperature model (NIPST) was used for algorithm performance comparisons. The results show that the mean error and median error of the NIDL are 0.4834 Celsius and 0.3464 Celsius which is equivalent to accuracy improvements of 16.28% and 4.28%, respectively.