arXiv subjects

Mohamed ElHelw

Publications and source records attributed to Mohamed ElHelw.

4 recordsLinked to original sources

arXiv2024

RSDiff: Remote Sensing Image Generation from Text Using Diffusion Model

The generation and enhancement of satellite imagery are critical in remote sensing, requiring high-quality, detailed images for accurate analysis. This research introduces a two-stage diffusion model methodology for synthesizing high-resolution satellite images from textual prompts. The pipeline comprises a Low-Resolution Diffusion Model (LRDM) that generates initial images based on text inputs and a Super-Resolution Diffusion Model (SRDM) that refines these images into high-resolution outputs. The LRDM merges text and image embeddings within a shared latent space, capturing essential scene content and structure. The SRDM then enhances these images, focusing on spatial features and visual clarity. Experiments conducted using the Remote Sensing Image Captioning Dataset (RSICD) demonstrate that our method outperforms existing models, producing satellite images with accurate geographical details and improved spatial resolution.

cs.CV↗

arXiv2024

STG-MTL: Scalable Task Grouping for Multi-Task Learning Using Data Map

Multi-Task Learning (MTL) is a powerful technique that has gained popularity due to its performance improvement over traditional Single-Task Learning (STL). However, MTL is often challenging because there is an exponential number of possible task groupings, which can make it difficult to choose the best one because some groupings might produce performance degradation due to negative interference between tasks. That is why existing solutions are severely suffering from scalability issues, limiting any practical application. In our paper, we propose a new data-driven method that addresses these challenges and provides a scalable and modular solution for classification task grouping based on a re-proposed data-driven features, Data Maps, which capture the training dynamics for each classification task during the MTL training. Through a theoretical comparison with other techniques, we manage to show that our approach has the superior scalability. Our experiments show a better performance and verify the method's effectiveness, even on an unprecedented number of tasks (up to 100 tasks on CIFAR100). Being the first to work on such number of tasks, our comparisons on the resulting grouping shows similar grouping to the mentioned in the dataset, CIFAR100. Finally, we provide a modular implementation for easier integration and testing, with examples from multiple datasets and tasks.

cs.LG↗

arXiv2024

Improved LiDAR Odometry and Mapping using Deep Semantic Segmentation and Novel Outliers Detection

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including self-driving cars and mobile robots that perform complex tasks. Fast moving platforms like self-driving cars impose a hard challenge for localization and mapping algorithms. In this work, we propose a novel framework for real-time LiDAR odometry and mapping based on LOAM architecture for fast moving platforms. Our framework utilizes semantic information produced by a deep learning model to improve point-to-line and point-to-plane matching between LiDAR scans and build a semantic map of the environment, leading to more accurate motion estimation using LiDAR data. We observe that including semantic information in the matching process introduces a new type of outlier matches to the process, where matching occur between different objects of the same semantic class. To this end, we propose a novel algorithm that explicitly identifies and discards potential outliers in the matching process. In our experiments, we study the effect of improving the matching process on the robustness of LiDAR odometry against high speed motion. Our experimental evaluations on KITTI dataset demonstrate that utilizing semantic information and rejecting outliers significantly enhance the robustness of LiDAR odometry and mapping when there are large gaps between scan acquisition poses, which is typical for fast moving platforms.

cs.CV↗

arXiv2019

Robust Real-time Pedestrian Detection in Aerial Imagery on Jetson TX2

Detection of pedestrians in aerial imagery captured by drones has many applications including intersection monitoring, patrolling, and surveillance, to name a few. However, the problem is involved due to continuouslychanging camera viewpoint and object appearance as well as the need for lightweight algorithms to run on on-board embedded systems. To address this issue, the paper proposes a framework for pedestrian detection in videos based on the YOLO object detection network [6] while having a high throughput of more than 5 FPS on the Jetson TX2 embedded board. The framework exploits deep learning for robust operation and uses a pre-trained model without the need for any additional training which makes it flexible to apply on different setups with minimum amount of tuning. The method achieves ~81 mAP when applied on a sample video from the Embedded Real-Time Inference (ERTI) Challenge where pedestrians are monitored by a UAV.

cs.CV↗