arXiv subjects

Bernhard Sick

Publications and source records attributed to Bernhard Sick.

At least 91 records · Page 5Linked to original sources

arXiv2020

Toward Optimal Probabilistic Active Learning Using a Bayesian Approach

Gathering labeled data to train well-performing machine learning models is one of the critical challenges in many applications. Active learning aims at reducing the labeling costs by an efficient and effective allocation of costly labeling resources. In this article, we propose a decision-theoretic selection strategy that (1) directly optimizes the gain in misclassification error, and (2) uses a Bayesian approach by introducing a conjugate prior distribution to determine the class posterior to deal with uncertainties. By reformulating existing selection strategies within our proposed model, we can explain which aspects are not covered in current state-of-the-art and why this leads to the superior performance of our approach. Extensive experiments on a large variety of datasets and different kernels validate our claims.

cs.LG↗

arXiv2020

Extended Coopetitive Soft Gating Ensemble

This article is about an extension of a recent ensemble method called Coopetitive Soft Gating Ensemble (CSGE) and its application on power forecasting as well as motion primitive forecasting of cyclists. The CSGE has been used successfully in the field of wind power forecasting, outperforming common algorithms in this domain. The principal idea of the CSGE is to weight the models regarding their observed performance during training on different aspects. Several extensions are proposed to the original CSGE within this article, making the ensemble even more flexible and powerful. The extended CSGE (XCSGE as we term it), is used to predict the power generation on both wind- and solar farms. Moreover, the XCSGE is applied to forecast the movement state of cyclists in the context of driver assistance systems. Both domains have different requirements, are non-trivial problems, and are used to evaluate various facets of the novel XCSGE. The two problems differ fundamentally in the size of the data sets and the number of features. Power forecasting is based on weather forecasts that are subject to fluctuations in their features. In the movement primitive forecasting of cyclists, time delays contribute to the difficulty of the prediction. The XCSGE reaches an improvement of the prediction performance of up to 11% for wind power forecasting and 30% for solar power forecasting compared to the worst performing model. For the classification of movement primitives of cyclists, the XCSGE reaches an improvement of up to 28%. The evaluation includes a comparison with other state-of-the-art ensemble methods. We can verify that the XCSGE results are significantly better using the Nemenyi post-hoc test.

cs.LG↗

arXiv2020

Emerging Relation Network and Task Embedding for Multi-Task Regression Problems

Multi-task learning (mtl) provides state-of-the-art results in many applications of computer vision and natural language processing. In contrast to single-task learning (stl), mtl allows for leveraging knowledge between related tasks improving prediction results on the main task (in contrast to an auxiliary task) or all tasks. However, there is a limited number of comparative studies on applying mtl architectures for regression and time series problems taking recent advances of mtl into account. An interesting, non-linear problem is the forecast of the expected power generation for renewable power plants. Therefore, this article provides a comparative study of the following recent and important mtl architectures: Hard parameter sharing, cross-stitch network, sluice network (sn). They are compared to a multi-layer perceptron model of similar size in an stl setting. Additionally, we provide a simple, yet effective approach to model task specific information through an embedding layer in an multi-layer perceptron, referred to as task embedding. Further, we introduce a new mtl architecture named emerging relation network (ern), which can be considered as an extension of the sluice network. For a solar power dataset, the task embedding achieves the best mean improvement with 14.9%. The mean improvement of the ern and the sn on the solar dataset is of similar magnitude with 14.7% and 14.8%. On a wind power dataset, only the ern achieves a significant improvement of up to 7.7%. Results suggest that the ern is beneficial when tasks are only loosely related and the prediction problem is more non-linear. Contrary, the proposed task embedding is advantageous when tasks are strongly correlated. Further, the task embedding provides an effective approach with reduced computational effort compared to other mtl architectures.

cs.LG↗

arXiv2020

Seeing Around Street Corners: Non-Line-of-Sight Detection and Tracking In-the-Wild Using Doppler Radar

Conventional sensor systems record information about directly visible objects, whereas occluded scene components are considered lost in the measurement process. Non-line-of-sight (NLOS) methods try to recover such hidden objects from their indirect reflections - faint signal components, traditionally treated as measurement noise. Existing NLOS approaches struggle to record these low-signal components outside the lab, and do not scale to large-scale outdoor scenes and high-speed motion, typical in automotive scenarios. In particular, optical NLOS capture is fundamentally limited by the quartic intensity falloff of diffuse indirect reflections. In this work, we depart from visible-wavelength approaches and demonstrate detection, classification, and tracking of hidden objects in large-scale dynamic environments using Doppler radars that can be manufactured at low-cost in series production. To untangle noisy indirect and direct reflections, we learn from temporal sequences of Doppler velocity and position measurements, which we fuse in a joint NLOS detection and tracking network over time. We validate the approach on in-the-wild automotive scenes, including sequences of parked cars or house facades as relay surfaces, and demonstrate low-cost, real-time NLOS in dynamic automotive environments.

cs.CV↗

arXiv2019

A Multi-Stage Clustering Framework for Automotive Radar Data

Radar sensors provide a unique method for executing environmental perception tasks towards autonomous driving. Especially their capability to perform well in adverse weather conditions often makes them superior to other sensors such as cameras or lidar. Nevertheless, the high sparsity and low dimensionality of the commonly used detection data level is a major challenge for subsequent signal processing. Therefore, the data points are often merged in order to form larger entities from which more information can be gathered. The merging process is often implemented in form of a clustering algorithm. This article describes a novel approach for first filtering out static background data before applying a twostage clustering approach. The two-stage clustering follows the same paradigm as the idea for data association itself: First, clustering what is ought to belong together in a low dimensional parameter space, then, extracting additional features from the newly created clusters in order to perform a final clustering step. Parameters are optimized for filtering and both clustering steps. All techniques are assessed both individually and as a whole in order to demonstrate their effectiveness. Final results indicate clear benefits of the first two methods and also the cluster merging process under specific circumstances.

cs.LG↗

arXiv2019

Generative Adversarial Networks for Operational Scenario Planning of Renewable Energy Farms: A Study on Wind and Photovoltaic

For the integration of renewable energy sources, power grid operators need realistic information about the effects of energy production and consumption to assess grid stability. Recently, research in scenario planning benefits from utilizing generative adversarial networks (GANs) as generative models for operational scenario planning. In these scenarios, operators examine temporal as well as spatial influences of different energy sources on the grid. The analysis of how renewable energy resources affect the grid enables the operators to evaluate the stability and to identify potential weak points such as a limiting transformer. However, due to their novelty, there are limited studies on how well GANs model the underlying power distribution. This analysis is essential because, e.g., especially extreme situations with low or high power generation are required to evaluate grid stability. We conduct a comparative study of the Wasserstein distance, binary-cross-entropy loss, and a Gaussian copula as the baseline applied on two wind and two solar datasets with limited data compared to previous studies. Both GANs achieve good results considering the limited amount of data, but the Wasserstein GAN is superior in modeling temporal and spatial relations, and the power distribution. Besides evaluating the generated power distribution over all farms, it is essential to assess terrain specific distributions for wind scenarios. These terrain specific power distributions affect the grid by their differences in their generating power magnitude. Therefore, in a second study, we show that even when simultaneously learning distributions from wind parks with terrain specific patterns, GANs are capable of modeling these individualities also when faced with limited data.

cs.LG↗

arXiv2019

Automated Ground Truth Estimation For Automotive Radar Tracking Applications With Portable GNSS And IMU Devices

Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in the data. This article proposes an automated way of acquiring reference trajectories by using a highly accurate hand-held global navigation satellite system (GNSS). An embedded inertial measurement unit (IMU) is used for estimating orientation and motion behavior. This article contains two major contributions. A method for associating radar data to vulnerable road user (VRU) tracks is described. It is evaluated how accurate the system performs under different GNSS reception conditions and how carrying a reference system alters radar measurements. Second, the system is used to track pedestrians and cyclists over many measurement cycles in order to generate object centered occupancy grid maps. The reference system allows to much more precisely generate real world radar data distributions of VRUs than compared to conventional methods. Hereby, an important step towards radar-based VRU tracking is accomplished.

eess.SP↗

arXiv2019

Influences in Forecast Errors for Wind and Photovoltaic Power: A Study on Machine Learning Models

Despite the increasing importance of forecasts of renewable energy, current planning studies only address a general estimate of the forecast quality to be expected and selected forecast horizons. However, these estimates allow only a limited and highly uncertain use in the planning of electric power distribution. More reliable planning processes require considerably more information about future forecast quality. In this article, we present an in-depth analysis and comparison of influencing factors regarding uncertainty in wind and photovoltaic power forecasts, based on four different machine learning (ML) models. In our analysis, we found substantial differences in uncertainty depending on ML models, data coverage, and seasonal patterns that have to be considered in future planning studies.

stat.AP↗

arXiv2019

Radar-based Road User Classification and Novelty Detection with Recurrent Neural Network Ensembles

Radar-based road user classification is an important yet still challenging task towards autonomous driving applications. The resolution of conventional automotive radar sensors results in a sparse data representation which is tough to recover by subsequent signal processing. In this article, classifier ensembles originating from a one-vs-one binarization paradigm are enriched by one-vs-all correction classifiers. They are utilized to efficiently classify individual traffic participants and also identify hidden object classes which have not been presented to the classifiers during training. For each classifier of the ensemble an individual feature set is determined from a total set of 98 features. Thereby, the overall classification performance can be improved when compared to previous methods and, additionally, novel classes can be identified much more accurately. Furthermore, the proposed structure allows to give new insights in the importance of features for the recognition of individual classes which is crucial for the development of new algorithms and sensor requirements.

cs.LG↗

arXiv2019

Automated Ground Truth Estimation of Vulnerable Road Users in Automotive Radar Data Using GNSS

Annotating automotive radar data is a difficult task. This article presents an automated way of acquiring data labels which uses a highly accurate and portable global navigation satellite system (GNSS). The proposed system is discussed besides a revision of other label acquisitions techniques and a problem description of manual data annotation. The article concludes with a systematic comparison of conventional hand labeling and automatic data acquisition. The results show clear advantages of the proposed method without a relevant loss in labeling accuracy. Minor changes can be observed in the measured radar data, but the so introduced bias of the GNSS reference is clearly outweighed by the indisputable time savings. Beside data annotation, the proposed system can also provide a ground truth for validating object tracking or other automated driving system applications.

eess.SP↗

arXiv2019

Radar-based Feature Design and Multiclass Classification for Road User Recognition

The classification of individual traffic participants is a complex task, especially for challenging scenarios with multiple road users or under bad weather conditions. Radar sensors provide an - with respect to well established camera systems - orthogonal way of measuring such scenes. In order to gain accurate classification results, 50 different features are extracted from the measurement data and tested on their performance. From these features a suitable subset is chosen and passed to random forest and long short-term memory (LSTM) classifiers to obtain class predictions for the radar input. Moreover, it is shown why data imbalance is an inherent problem in automotive radar classification when the dataset is not sufficiently large. To overcome this issue, classifier binarization is used among other techniques in order to better account for underrepresented classes. A new method to couple the resulting probabilities is proposed and compared to others with great success. Final results show substantial improvements when compared to ordinary multiclass classification

cs.LG↗

arXiv2019

Collaborative Interactive Learning -- A clarification of terms and a differentiation from other research fields

The field of collaborative interactive learning (CIL) aims at developing and investigating the technological foundations for a new generation of smart systems that support humans in their everyday life. While the concept of CIL has already been carved out in detail (including the fields of dedicated CIL and opportunistic CIL) and many research objectives have been stated, there is still the need to clarify some terms such as information, knowledge, and experience in the context of CIL and to differentiate CIL from recent and ongoing research in related fields such as active learning, collaborative learning, and others. Both aspects are addressed in this paper.

cs.LG↗

arXiv2019

Limitations of Assessing Active Learning Performance at Runtime

Classification algorithms aim to predict an unknown label (e.g., a quality class) for a new instance (e.g., a product). Therefore, training samples (instances and labels) are used to deduct classification hypotheses. Often, it is relatively easy to capture instances but the acquisition of the corresponding labels remain difficult or expensive. Active learning algorithms select the most beneficial instances to be labeled to reduce cost. In research, this labeling procedure is simulated and therefore a ground truth is available. But during deployment, active learning is a one-shot problem and an evaluation set is not available. Hence, it is not possible to reliably estimate the performance of the classification system during learning and it is difficult to decide when the system fulfills the quality requirements (stopping criteria). In this article, we formalize the task and review existing strategies to assess the performance of an actively trained classifier during training. Furthermore, we identified three major challenges: 1)~to derive a performance distribution, 2)~to preserve representativeness of the labeled subset, and 3) to correct against sampling bias induced by an intelligent selection strategy. In a qualitative analysis, we evaluate different existing approaches and show that none of them reliably estimates active learning performance stating a major challenge for future research for such systems. All plots and experiments are provided in a Jupyter notebook that is available for download.

cs.LG↗

arXiv2018

Cooperative Starting Movement Detection of Cyclists Using Convolutional Neural Networks and a Boosted Stacking Ensemble

In future, vehicles and other traffic participants will be interconnected and equipped with various types of sensors, allowing for cooperation on different levels, such as situation prediction or intention detection. In this article we present a cooperative approach for starting movement detection of cyclists using a boosted stacking ensemble approach realizing feature- and decision level cooperation. We introduce a novel method based on a 3D Convolutional Neural Network (CNN) to detect starting motions on image sequences by learning spatio-temporal features. The CNN is complemented by a smart device based starting movement detection originating from smart devices carried by the cyclist. Both model outputs are combined in a stacking ensemble approach using an extreme gradient boosting classifier resulting in a fast and yet robust cooperative starting movement detector. We evaluate our cooperative approach on real-world data originating from experiments with 49 test subjects consisting of 84 starting motions.

cs.CV↗

arXiv2018

Detecting Intentions of Vulnerable Road Users Based on Collective Intelligence

Vulnerable road users (VRUs, i.e. cyclists and pedestrians) will play an important role in future traffic. To avoid accidents and achieve a highly efficient traffic flow, it is important to detect VRUs and to predict their intentions. In this article a holistic approach for detecting intentions of VRUs by cooperative methods is presented. The intention detection consists of basic movement primitive prediction, e.g. standing, moving, turning, and a forecast of the future trajectory. Vehicles equipped with sensors, data processing systems and communication abilities, referred to as intelligent vehicles, acquire and maintain a local model of their surrounding traffic environment, e.g. crossing cyclists. Heterogeneous, open sets of agents (cooperating and interacting vehicles, infrastructure, e.g. cameras and laser scanners, and VRUs equipped with smart devices and body-worn sensors) exchange information forming a multi-modal sensor system with the goal to reliably and robustly detect VRUs and their intentions under consideration of real time requirements and uncertainties. The resulting model allows to extend the perceptual horizon of the individual agent beyond their own sensory capabilities, enabling a longer forecast horizon. Concealments, implausibilities and inconsistencies are resolved by the collective intelligence of cooperating agents. Novel techniques of signal processing and modelling in combination with analytical and learning based approaches of pattern and activity recognition are used for detection, as well as intention prediction of VRUs. Cooperation, by means of probabilistic sensor and knowledge fusion, takes place on the level of perception and intention recognition. Based on the requirements of the cooperative approach for the communication a new strategy for an ad hoc network is proposed.

cs.AI↗

arXiv2018

Coopetitive Soft Gating Ensemble

In this article, we propose the Coopetititve Soft Gating Ensemble or CSGE for general machine learning tasks and interwoven systems. The goal of machine learning is to create models that generalize well for unknown datasets. Often, however, the problems are too complex to be solved with a single model, so several models are combined. Similar, Autonomic Computing requires the integration of different systems. Here, especially, the local, temporal online evaluation and the resulting (re-)weighting scheme of the CSGE makes the approach highly applicable for self-improving system integrations. To achieve the best potential performance the CSGE can be optimized according to arbitrary loss functions making it accessible for a broader range of problems. We introduce a novel training procedure including a hyper-parameter initialisation at its heart. We show that the CSGE approach reaches state-of-the-art performance for both classification and regression tasks. Further on, the CSGE provides a human-readable quantification on the influence of all base estimators employing the three weighting aspects. Moreover, we provide a scikit-learn compatible implementation.

cs.LG↗

arXiv2018

Quantifying the Influences on Probabilistic Wind Power Forecasts

In recent years, probabilistic forecasts techniques were proposed in research as well as in applications to integrate volatile renewable energy resources into the electrical grid. These techniques allow decision makers to take the uncertainty of the prediction into account and, therefore, to devise optimal decisions, e.g., related to costs and risks in the electrical grid. However, it was yet not studied how the input, such as numerical weather predictions, affects the model output of forecasting models in detail. Therefore, we examine the potential influences with techniques from the field of sensitivity analysis on three different black-box models to obtain insights into differences and similarities of these probabilistic models. The analysis shows a considerable number of potential influences in those models depending on, e.g., the predicted probability and the type of model. These effects motivate the need to take various influences into account when models are tested, analyzed, or compared. Nevertheless, results of the sensitivity analysis will allow us to select a model with advantages in the practical application.

stat.ML↗

arXiv2018

Starting Movement Detection of Cyclists Using Smart Devices

In near future, vulnerable road users (VRUs) such as cyclists and pedestrians will be equipped with smart devices and wearables which are capable to communicate with intelligent vehicles and other traffic participants. Road users are then able to cooperate on different levels, such as in cooperative intention detection for advanced VRU protection. Smart devices can be used to detect intentions, e.g., an occluded cyclist intending to cross the road, to warn vehicles of VRUs, and prevent potential collisions. This article presents a human activity recognition approach to detect the starting movement of cyclists wearing smart devices. We propose a novel two-stage feature selection procedure using a score specialized for robust starting detection reducing the false positive detections and leading to understandable and interpretable features. The detection is modelled as a classification problem and realized by means of a machine learning classifier. We introduce an auxiliary class, that models starting movements and allows to integrate early movement indicators, i.e., body part movements indicating future behaviour. In this way we improve the robustness and reduce the detection time of the classifier. Our empirical studies with real-world data originating from experiments which involve 49 test subjects and consists of 84 starting motions show that we are able to detect the starting movements early. Our approach reaches an F1-score of 67 % within 0.33 s after the first movement of the bicycle wheel. Investigations concerning the device wearing location show that for devices worn in the trouser pocket the detector has less false detections and detects starting movements faster on average. We found that we can further improve the results when we train distinct classifiers for different wearing locations.

cs.CV↗