arXiv subjects

Krystian Radlak

Publications and source records attributed to Krystian Radlak.

9 recordsLinked to original sources

arXiv2026

ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel

Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction depth. In this paper, we use a compact heterogeneous robotic system (HeROS), combining mobile and manipulation capabilities, as a demonstration vehicle under dynamically changing tasks. Notably, all its subsystems are powered by ROS. The use of compatible interfaces and other ROS integration capabilities simplifies the construction of such systems. However, this only addresses part of the complexity: the semantic coherence and structural traceability are even more important for precise coordination and call for deliberate engineering methods. The Model-Based Systems Engineering (MBSE) discipline, which emerged from the experience of complexity management in large-scale engineering domains, offers the methodological foundations needed. Despite their strengths in complementary aspects of robotics systems engineering, the lack of a unified approach to integrate ROS and MBSE hinders the full potential of these tools. Motivated by the anticipated impact of such a synergy in robotics practice, we propose a structured methodology based on MeROS - a SysML metamodel created specifically to put the ROS-based systems into the focus of the MBSE workflow. As its methodological backbone, we adapt the well-known V-model to this context, illustrating how complex robotic systems can be designed with traceability and validation capabilities embedded into their lifecycle using practices familiar to engineering teams.

cs.RO↗

arXiv2025

Semi-Automated Data Annotation in Multisensor Datasets for Autonomous Vehicle Testing

This report presents the design and implementation of a semi-automated data annotation pipeline developed within the DARTS project, whose goal is to create a large-scale, multimodal dataset of driving scenarios recorded in Polish conditions. Manual annotation of such heterogeneous data is both costly and time-consuming. To address this challenge, the proposed solution adopts a human-in-the-loop approach that combines artificial intelligence with human expertise to reduce annotation cost and duration. The system automatically generates initial annotations, enables iterative model retraining, and incorporates data anonymization and domain adaptation techniques. At its core, the tool relies on 3D object detection algorithms to produce preliminary annotations. Overall, the developed tools and methodology result in substantial time savings while ensuring consistent, high-quality annotations across different sensor modalities. The solution directly supports the DARTS project by accelerating the preparation of large annotated dataset in the project's standardized format, strengthening the technological base for autonomous vehicle research in Poland.

cs.AI↗

arXiv2025

Semi-Supervised Diversity-Aware Domain Adaptation for 3D Object detection

3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different domains - for instance, a model trained in the U.S. may perform poorly in regions like Asia or Europe. This paper presents a novel lidar domain adaptation method based on neuron activation patterns, demonstrating that state-of-the-art performance can be achieved by annotating only a small, representative, and diverse subset of samples from the target domain if they are correctly selected. The proposed approach requires very small annotation budget and, when combined with post-training techniques inspired by continual learning prevent weight drift from the original model. Empirical evaluation shows that the proposed domain adaptation approach outperforms both linear probing and state-of-the-art domain adaptation techniques.

cs.CV↗

arXiv2023

Combating noisy labels in object detection datasets

The quality of training datasets for deep neural networks is a key factor contributing to the accuracy of resulting models. This effect is amplified in difficult tasks such as object detection. Dealing with errors in datasets is often limited to accepting that some fraction of examples are incorrect, estimating their confidence, and either assigning appropriate weights or ignoring uncertain ones during training. In this work, we propose a different approach. We introduce the Confident Learning for Object Detection (CLOD) algorithm for assessing the quality of each label in object detection datasets, identifying missing, spurious, mislabeled, and mislocated bounding boxes and suggesting corrections. By focusing on finding incorrect examples in the training datasets, we can eliminate them at the root. Suspicious bounding boxes can be reviewed to improve the quality of the dataset, leading to better models without further complicating their already complex architectures. The proposed method is able to point out nearly 80% of artificially disturbed bounding boxes with a false positive rate below 0.1. Cleaning the datasets by applying the most confident automatic suggestions improved mAP scores by 16% to 46%, depending on the dataset, without any modifications to the network architectures. This approach shows promising potential in rectifying state-of-the-art object detection datasets.

cs.CV↗

arXiv2023

Detecting Out-of-distribution Objects Using Neuron Activation Patterns

Object detection is essential to many perception algorithms used in modern robotics applications. Unfortunately, the existing models share a tendency to assign high confidence scores for out-of-distribution (OOD) samples. Although OOD detection has been extensively studied in recent years by the computer vision (CV) community, most proposed solutions apply only to the image recognition task. Real-world applications such as perception in autonomous vehicles struggle with far more complex challenges than classification. In our work, we focus on the prevalent field of object detection, introducing Neuron Activation PaTteRns for out-of-distribution samples detection in Object detectioN (NAPTRON). Performed experiments show that our approach outperforms state-of-the-art methods, without the need to affect in-distribution (ID) performance. By evaluating the methods in two distinct OOD scenarios and three types of object detectors we have created the largest open-source benchmark for OOD object detection.

cs.CV↗

arXiv2023

Detection of out-of-distribution samples using binary neuron activation patterns

Deep neural networks (DNN) have outstanding performance in various applications. Despite numerous efforts of the research community, out-of-distribution (OOD) samples remain a significant limitation of DNN classifiers. The ability to identify previously unseen inputs as novel is crucial in safety-critical applications such as self-driving cars, unmanned aerial vehicles, and robots. Existing approaches to detect OOD samples treat a DNN as a black box and evaluate the confidence score of the output predictions. Unfortunately, this method frequently fails, because DNNs are not trained to reduce their confidence for OOD inputs. In this work, we introduce a novel method for OOD detection. Our method is motivated by theoretical analysis of neuron activation patterns (NAP) in ReLU-based architectures. The proposed method does not introduce a high computational overhead due to the binary representation of the activation patterns extracted from convolutional layers. The extensive empirical evaluation proves its high performance on various DNN architectures and seven image datasets.

cs.LG↗

arXiv2021

Organization of machine learning based product development as per ISO 26262 and ISO/PAS 21448

Machine learning (ML) algorithms generate a continuous stream of success stories from various domains and enable many novel applications in safety-critical systems. With the advent of autonomous driving, ML algorithms are being used in the automotive domain, where the applicable functional safety standard is ISO 26262. However, requirements and recommendations provided by ISO 26262 do not cover specific properties of machine learning algorithms. Therefore, specific aspects of ML (e.g., dataset requirements, performance evaluation metrics, lack of interpretability) must be addressed within some work products, which collect documentation resulting from one or more associated requirements and recommendations of ISO 26262. In this paper, we propose how key technical aspects and supporting processes related to development of ML-based systems can be organized according to ISO 26262 phases, sub-phases, and work products. We follow the same approach as in the ISO/PAS 21448 standard, which complements ISO 26262, in order to account for edge cases that can lead to hazards not directly caused by system failure.%, but resulting from functional insufficiencies of the intended functionality or by reasonably foreseeable misuse by persons.

cs.LG↗

arXiv2019

Deep Learning based Switching Filter for Impulsive Noise Removal in Color Images

Noise reduction is one the most important and still active research topic in low-level image processing due to its high impact on object detection and scene understanding for computer vision systems. Recently, we can observe a substantial increase of interest in the application of deep learning algorithms in many computer vision problems due to its impressive capability of automatic feature extraction and classification. These methods have been also successfully applied in image denoising, significantly improving the performance, but most of the proposed approaches were designed for Gaussian noise suppression. In this paper, we present a switching filtering design intended for impulsive noise removal using deep learning. In the proposed method, the impulses are identified using a novel deep neural network architecture and noisy pixels are restored using the fast adaptive mean filter. The performed experiments show that the proposed approach is superior to the state-of-the-art filters designed for impulsive noise removal in digital color images.

cs.CV↗

arXiv2017

Review of image quality measures for solar imaging

The observations of solar photosphere from the ground encounter significant problems due to the presence of Earth's turbulent atmosphere. Prior to applying image reconstruction techniques, the frames obtained in most favorable atmospheric conditions (so-called lucky frames) have to be carefully selected. However, the estimation of the quality of images containing complex photospheric structures is not a trivial task and the standard routines applied in night-time Lucky Imaging observations are not applicable. In this paper we evaluate 36 methods dedicated for the assessment of image quality which were presented in the rich literature over last 40 years. We compare their effectiveness on simulated solar observations of both active regions and granulation patches, using reference data obtained by the Solar Optical Telescope on the Hindoe satellite. To create the images affected by a known degree of atmospheric degradation, we employ the Random Wave Vector method which faithfully models all the seeing characteristics. The results provide useful information about the methods performance depending on the average seeing conditions expressed by the ratio of the telescope's aperture to the Fried parameter, $D/r_0$. The comparison identifies three methods for consideration by observers: Helmli and Scherer's Mean, Median Filter Gradient Similarity, and Discrete Cosine Transform Energy Ratio. While the first one requires less computational effort and can be used effectively virtually in any atmospherics conditions, the second one shows its superiority at good seeing ($D/r_0<4$). The last one should be considered mainly for the post-processing of strongly blurred images.

astro-ph.IM↗