Ashutosh Bhown | Searcharxiv

arXiv2024

A Detection and Filtering Framework for Collaborative Localization

Increasingly, autonomous vehicles (AVs) are becoming a reality, such as the Advanced Driver Assistance Systems (ADAS) in vehicles that assist drivers in driving and parking functions with vehicles today. The localization problem for AVs relies primarily on multiple sensors, including cameras, LiDARs, and radars. Manufacturing, installing, calibrating, and maintaining these sensors can be very expensive, thereby increasing the overall cost of AVs. This research explores the means to improve localization on vehicles belonging to the ADAS category in a platooning context, where an ADAS vehicle follows a lead "Smart" AV equipped with a highly accurate sensor suite. We propose and produce results by using a filtering framework to combine pose information derived from vision and odometry to improve the localization of the ADAS vehicle that follows the smart vehicle.

cs.RO↗

arXiv2019

Towards improved lossy image compression: Human image reconstruction with public-domain images

Lossy image compression has been studied extensively in the context of typical loss functions such as RMSE, MS-SSIM, etc. However, compression at low bitrates generally produces unsatisfying results. Furthermore, the availability of massive public image datasets appears to have hardly been exploited in image compression. Here, we present a paradigm for eliciting human image reconstruction in order to perform lossy image compression. In this paradigm, one human describes images to a second human, whose task is to reconstruct the target image using publicly available images and text instructions. The resulting reconstructions are then evaluated by human raters on the Amazon Mechanical Turk platform and compared to reconstructions obtained using state-of-the-art compressor WebP. Our results suggest that prioritizing semantic visual elements may be key to achieving significant improvements in image compression, and that our paradigm can be used to develop a more human-centric loss function. The images, results and additional data are available at https://compression.stanford.edu/human-compression

eess.IV↗