arXiv subjects

Tao Ma

Publications and source records attributed to Tao Ma.

At least 37 records · Page 2Linked to original sources

arXiv2024

Asphalt Concrete Characterization Using Digital Image Correlation: A Systematic Review of Best Practices, Applications, and Future Vision

Digital Image Correlation (DIC) is an optical technique that measures displacement and strain by tracking pattern movement in a sequence of captured images during testing. DIC has gained recognition in asphalt pavement engineering since the early 2000s. However, users often perceive the DIC technique as an out-of-box tool and lack a thorough understanding of its operational and measurement principles. This article presents a state-of-art review of DIC as a crucial tool for laboratory testing of asphalt concrete (AC), primarily focusing on the widely utilized 2D-DIC and 3D-DIC techniques. To address frequently asked questions from users, the review thoroughly examines the optimal methods for preparing speckle patterns, configuring single-camera or dual-camera imaging systems, conducting DIC analyses, and exploring various applications. Furthermore, emerging DIC methodologies such as Digital Volume Correlation and deep-learning-based DIC are introduced, highlighting their potential for future applications in pavement engineering. The article also provides a comprehensive and reliable flowchart for implementing DIC in AC characterization. Finally, critical directions for future research are presented.

cs.CV↗

arXiv2024

DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Models

Recent advancements in autonomous driving have relied on data-driven approaches, which are widely adopted but face challenges including dataset bias, overfitting, and uninterpretability. Drawing inspiration from the knowledge-driven nature of human driving, we explore the question of how to instill similar capabilities into autonomous driving systems and summarize a paradigm that integrates an interactive environment, a driver agent, as well as a memory component to address this question. Leveraging large language models (LLMs) with emergent abilities, we propose the DiLu framework, which combines a Reasoning and a Reflection module to enable the system to perform decision-making based on common-sense knowledge and evolve continuously. Extensive experiments prove DiLu's capability to accumulate experience and demonstrate a significant advantage in generalization ability over reinforcement learning-based methods. Moreover, DiLu is able to directly acquire experiences from real-world datasets which highlights its potential to be deployed on practical autonomous driving systems. To the best of our knowledge, we are the first to leverage knowledge-driven capability in decision-making for autonomous vehicles. Through the proposed DiLu framework, LLM is strengthened to apply knowledge and to reason causally in the autonomous driving domain. Project page: https://pjlab-adg.github.io/DiLu/

cs.RO↗

arXiv2024

Real-Time Asphalt Pavement Layer Thickness Prediction Using Ground-Penetrating Radar Based on a Modified Extended Common Mid-Point (XCMP) Approach

The conventional surface reflection method has been widely used to measure the asphalt pavement layer dielectric constant using ground-penetrating radar (GPR). This method may be inaccurate for in-service pavement thickness estimation with dielectric constant variation through the depth, which could be addressed using the extended common mid-point method (XCMP) with air-coupled GPR antennas. However, the factors affecting the XCMP method on thickness prediction accuracy haven't been studied. Manual acquisition of key factors is required, which hinders its real-time applications. This study investigates the affecting factors and develops a modified XCMP method to allow automatic thickness prediction of in-service asphalt pavement with non-uniform dielectric properties through depth. A sensitivity analysis was performed, necessitating the accurate estimation of time of flights (TOFs) from antenna pairs. A modified XCMP method based on edge detection was proposed to allow real-time TOFs estimation, then dielectric constant and thickness predictions. Field tests using a multi-channel GPR system were performed for validation. Both the surface reflection and XCMP setups were conducted. Results show that the modified XCMP method is recommended with a mean prediction error of 1.86%, which is more accurate than the surface reflection method (5.73%).

eess.SP↗

arXiv2023

Towards Knowledge-driven Autonomous Driving

This paper explores the emerging knowledge-driven autonomous driving technologies. Our investigation highlights the limitations of current autonomous driving systems, in particular their sensitivity to data bias, difficulty in handling long-tail scenarios, and lack of interpretability. Conversely, knowledge-driven methods with the abilities of cognition, generalization and life-long learning emerge as a promising way to overcome these challenges. This paper delves into the essence of knowledge-driven autonomous driving and examines its core components: dataset \& benchmark, environment, and driver agent. By leveraging large language models, world models, neural rendering, and other advanced artificial intelligence techniques, these components collectively contribute to a more holistic, adaptive, and intelligent autonomous driving system. The paper systematically organizes and reviews previous research efforts in this area, and provides insights and guidance for future research and practical applications of autonomous driving. We will continually share the latest updates on cutting-edge developments in knowledge-driven autonomous driving along with the relevant valuable open-source resources at: \url{https://github.com/PJLab-ADG/awesome-knowledge-driven-AD}.

cs.RO↗

arXiv2023

On the Road with GPT-4V(ision): Early Explorations of Visual-Language Model on Autonomous Driving

The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to grasp the nuance of complex driving environments and the intentions of other road users. This has been a significant bottleneck, particularly in the development of common sense reasoning and nuanced scene understanding necessary for safe and reliable autonomous driving. The advent of Visual Language Models (VLM) represents a novel frontier in realizing fully autonomous vehicle driving. This report provides an exhaustive evaluation of the latest state-of-the-art VLM, GPT-4V(ision), and its application in autonomous driving scenarios. We explore the model's abilities to understand and reason about driving scenes, make decisions, and ultimately act in the capacity of a driver. Our comprehensive tests span from basic scene recognition to complex causal reasoning and real-time decision-making under varying conditions. Our findings reveal that GPT-4V demonstrates superior performance in scene understanding and causal reasoning compared to existing autonomous systems. It showcases the potential to handle out-of-distribution scenarios, recognize intentions, and make informed decisions in real driving contexts. However, challenges remain, particularly in direction discernment, traffic light recognition, vision grounding, and spatial reasoning tasks. These limitations underscore the need for further research and development. Project is now available on GitHub for interested parties to access and utilize: \url{https://github.com/PJLab-ADG/GPT4V-AD-Exploration}

cs.CV↗

arXiv2023

AGMDT: Virtual Staining of Renal Histology Images with Adjacency-Guided Multi-Domain Transfer

Renal pathology, as the gold standard of kidney disease diagnosis, requires doctors to analyze a series of tissue slices stained by H&E staining and special staining like Masson, PASM, and PAS, respectively. These special staining methods are costly, time-consuming, and hard to standardize for wide use especially in primary hospitals. Advances of supervised learning methods have enabled the virtually conversion of H&E images into special staining images, but achieving pixel-to-pixel alignment for training remains challenging. In contrast, unsupervised learning methods regarding different stains as different style transfer domains can utilize unpaired data, but they ignore the spatial inter-domain correlations and thus decrease the trustworthiness of structural details for diagnosis. In this paper, we propose a novel virtual staining framework AGMDT to translate images into other domains by avoiding pixel-level alignment and meanwhile utilizing the correlations among adjacent tissue slices. We first build a high-quality multi-domain renal histological dataset where each specimen case comprises a series of slices stained in various ways. Based on it, the proposed framework AGMDT discovers patch-level aligned pairs across the serial slices of multi-domains through glomerulus detection and bipartite graph matching, and utilizes such correlations to supervise the end-to-end model for multi-domain staining transformation. Experimental results show that the proposed AGMDT achieves a good balance between the precise pixel-level alignment and unpaired domain transfer by exploiting correlations across multi-domain serial pathological slices, and outperforms the state-of-the-art methods in both quantitative measure and morphological details.

eess.IV↗

arXiv2023

DetZero: Rethinking Offboard 3D Object Detection with Long-term Sequential Point Clouds

Existing offboard 3D detectors always follow a modular pipeline design to take advantage of unlimited sequential point clouds. We have found that the full potential of offboard 3D detectors is not explored mainly due to two reasons: (1) the onboard multi-object tracker cannot generate sufficient complete object trajectories, and (2) the motion state of objects poses an inevitable challenge for the object-centric refining stage in leveraging the long-term temporal context representation. To tackle these problems, we propose a novel paradigm of offboard 3D object detection, named DetZero. Concretely, an offline tracker coupled with a multi-frame detector is proposed to focus on the completeness of generated object tracks. An attention-mechanism refining module is proposed to strengthen contextual information interaction across long-term sequential point clouds for object refining with decomposed regression methods. Extensive experiments on Waymo Open Dataset show our DetZero outperforms all state-of-the-art onboard and offboard 3D detection methods. Notably, DetZero ranks 1st place on Waymo 3D object detection leaderboard with 85.15 mAPH (L2) detection performance. Further experiments validate the application of taking the place of human labels with such high-quality results. Our empirical study leads to rethinking conventions and interesting findings that can guide future research on offboard 3D object detection.

cs.CV↗

arXiv2023

LoGoNet: Towards Accurate 3D Object Detection with Local-to-Global Cross-Modal Fusion

LiDAR-camera fusion methods have shown impressive performance in 3D object detection. Recent advanced multi-modal methods mainly perform global fusion, where image features and point cloud features are fused across the whole scene. Such practice lacks fine-grained region-level information, yielding suboptimal fusion performance. In this paper, we present the novel Local-to-Global fusion network (LoGoNet), which performs LiDAR-camera fusion at both local and global levels. Concretely, the Global Fusion (GoF) of LoGoNet is built upon previous literature, while we exclusively use point centroids to more precisely represent the position of voxel features, thus achieving better cross-modal alignment. As to the Local Fusion (LoF), we first divide each proposal into uniform grids and then project these grid centers to the images. The image features around the projected grid points are sampled to be fused with position-decorated point cloud features, maximally utilizing the rich contextual information around the proposals. The Feature Dynamic Aggregation (FDA) module is further proposed to achieve information interaction between these locally and globally fused features, thus producing more informative multi-modal features. Extensive experiments on both Waymo Open Dataset (WOD) and KITTI datasets show that LoGoNet outperforms all state-of-the-art 3D detection methods. Notably, LoGoNet ranks 1st on Waymo 3D object detection leaderboard and obtains 81.02 mAPH (L2) detection performance. It is noteworthy that, for the first time, the detection performance on three classes surpasses 80 APH (L2) simultaneously. Code will be available at \url{https://github.com/sankin97/LoGoNet}.

cs.CV↗

arXiv2023

Async-fork: Mitigating Query Latency Spikes Incurred by the Fork-based Snapshot Mechanism from the OS Level

In-memory key-value stores (IMKVSes) serve many online applications because of their efficiency. To support data backup, popular industrial IMKVSes periodically take a point-in-time snapshot of the in-memory data with the system call fork. However, this mechanism can result in latency spikes for queries arriving during the snapshot period because fork leads the engine into the kernel mode in which the engine is out-of-service for queries. In contrast to existing research focusing on optimizing snapshot algorithms, we optimize the fork operation to address the latency spikes problem from the operating system (OS) level, while keeping the data persistent mechanism in IMKVSes unchanged. Specifically, we first conduct an in-depth study to reveal the impact of the fork operation as well as the optimization techniques on query latency. Based on findings in the study, we propose Async-fork to offload the work of copying the page table from the engine (the parent process) to the child process as copying the page table dominates the execution time of fork. To keep data consistent between the parent and the child, we design the proactive synchronization strategy. Async-fork is implemented in the Linux kernel and deployed into the online Redis database in public clouds. Our experiment results show that compared with the default fork method in OS, Async-fork reduces the tail latency of queries arriving during the snapshot period by 81.76% on an 8GB instance and 99.84% on a 64GB instance.

cs.DB↗

arXiv2022

Comprehensive Review of Deep Learning-Based 3D Point Cloud Completion Processing and Analysis

Point cloud completion is a generation and estimation issue derived from the partial point clouds, which plays a vital role in the applications in 3D computer vision. The progress of deep learning (DL) has impressively improved the capability and robustness of point cloud completion. However, the quality of completed point clouds is still needed to be further enhanced to meet the practical utilization. Therefore, this work aims to conduct a comprehensive survey on various methods, including point-based, convolution-based, graph-based, and generative model-based approaches, etc. And this survey summarizes the comparisons among these methods to provoke further research insights. Besides, this review sums up the commonly used datasets and illustrates the applications of point cloud completion. Eventually, we also discussed possible research trends in this promptly expanding field.

cs.CV↗

arXiv2022

Search for gamma-ray spectral lines with the DArk Matter Particle Explorer

The DArk Matter Particle Explorer (DAMPE) is well suitable for searching for monochromatic and sharp $γ$-ray structures in the GeV$-$TeV range thanks to its unprecedented high energy resolution. In this work, we search for $γ$-ray line structures using five years of DAMPE data. To improve the sensitivity, we develop two types of dedicated data sets (including the BgoOnly data which is the first time to be used in the data analysis for the calorimeter-based gamma-ray observatories) and adopt the signal-to-noise ratio optimized regions of interest (ROIs) for different DM density profiles. No line signals or candidates are found between 10 and 300 GeV in the Galaxy. The constraints on the velocity-averaged cross section for $χχ\to γγ$ and the decay lifetime for $χ\to γν$, both at 95% confidence level, have been calculated and the systematic uncertainties have been taken into account. Comparing to the previous Fermi-LAT results, though DAMPE has an acceptance smaller by a factor of $\sim 10$, similar constraints on the DM parameters are achieved and below 100 GeV the lower limits on the decay lifetime are even stronger by a factor of a few. Our results demonstrate the potential of high-energy-resolution observations on dark matter detection.

astro-ph.HE↗

arXiv2022

Theoretic Guide for Using Photonic Glasses as Colored Covers for Solar Energy Harvesting

The increasing demand for renewable energy is promoting technologies that integrate solar energy harvesting materials with the human living environment, such as building-integrated photovoltaics (BIPVs). This places requirements on developing colored covers with a trade-off between efficiency and aesthetics, providing a new stage for the large-scale application of structural color technologies. Here in this study, we have investigated the theoretic feasibility of employing the photonic glass, a random packing of monodisperse dielectric microspheres, as the colored cover for solar energy harvesting. Based on numerous optical simulations, we have evaluated the color and average solar transmissivity (AST) of the photonic glasses with varying parameters. Results show that using non-absorbing microspheres with relatively high refractive index, about 3 μm thick photonic glasses could enable colors with lightness over 50 while keeping AST at around 80%. Besides, we demonstrate that due to the short-range structural correlation, photonic glasses could generate purple, blue, cyan, light green, and grey colors, but cannot help with yellow and red color hues. Finally, the effects of several enhancement methods are clarified, and possible ways for expanding the color range are demonstrated. These results provide a comprehensive guide to the practical implementations of structural color using photonic glasses, particularly in the colorization of solar energy materials.

physics.optics↗

arXiv2022

Pavementscapes: a large-scale hierarchical image dataset for asphalt pavement damage segmentation

Pavement damage segmentation has benefited enormously from deep learning. % and large-scale datasets. However, few current public datasets limit the potential exploration of deep learning in the application of pavement damage segmentation. To address this problem, this study has proposed Pavementscapes, a large-scale dataset to develop and evaluate methods for pavement damage segmentation. Pavementscapes is comprised of 4,000 images with a resolution of $1024 \times 2048$, which have been recorded in the real-world pavement inspection projects with 15 different pavements. A total of 8,680 damage instances are manually labeled with six damage classes at the pixel level. The statistical study gives a thorough investigation and analysis of the proposed dataset. The numeral experiments propose the top-performing deep neural networks capable of segmenting pavement damages, which provides the baselines of the open challenge for pavement inspection. The experiment results also indicate the existing problems for damage segmentation using deep learning, and this study provides potential solutions.

cs.CV↗

arXiv2022

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving

Accurate sensor calibration is a prerequisite for multi-sensor perception and localization systems for autonomous vehicles. The intrinsic parameter calibration of the sensor is to obtain the mapping relationship inside the sensor, and the extrinsic parameter calibration is to transform two or more sensors into a unified spatial coordinate system. Most sensors need to be calibrated after installation to ensure the accuracy of sensor measurements. To this end, we present OpenCalib, a calibration toolbox that contains a rich set of various sensor calibration methods. OpenCalib covers manual calibration tools, automatic calibration tools, factory calibration tools, and online calibration tools for different application scenarios. At the same time, to evaluate the calibration accuracy and subsequently improve the accuracy of the calibration algorithm, we released a corresponding benchmark dataset. This paper introduces various features and calibration methods of this toolbox. To our knowledge, this is the first open-sourced calibration codebase containing the full set of autonomous-driving-related calibration approaches in this area. We wish that the toolbox could be helpful to autonomous driving researchers. We have open-sourced our code on GitHub to benefit the community. Code is available at https://github.com/PJLab-ADG/SensorsCalibration.

cs.RO↗

arXiv2021

Optimal gamma-ray selections for monochromatic line searches with DAMPE

The DArk Matter Particle Explorer (DAMPE) is a space high-energy cosmic-ray detector covering a wide energy band with a high energy resolution. One of the key scientific goals of DAMPE is to carry out indirect detection of dark matter by searching for high-energy gamma-ray line structure. To promote the sensitivity of gamma-ray line search with DAMPE, it is crucial to improve the acceptance and energy resolution of gamma-ray photons. In this paper, we quantitatively prove that the photon sample with the largest ratio of acceptance to energy resolution is optimal for line search. We therefore develop a line-search sample specifically optimized for the line search. Meanwhile, in order to increase the statistics, we also selected the so called BGO-only photons that convert into $e^+e^-$ pairs only in the BGO calorimeter. The standard, the line-search, and the BGO-only photon samples are then tested for line search individually and collectively. The results show that a significantly improved limit could be obtained from an appropriate combination of the date sets, and the increase is about 20\% for the highest case compared with using the standard sample only.

hep-ex↗

arXiv2021

Observations of Forbush Decreases of cosmic ray electrons and positrons with the Dark Matter Particle Explorer

The Forbush Decrease (FD) represents the rapid decrease of the intensities of charged particles accompanied with the coronal mass ejections (CMEs) or high-speed streams from coronal holes. It has been mainly explored with ground-based neutron monitors network which indirectly measure the integrated intensities of all species of cosmic rays by counting secondary neutrons produced from interaction between atmosphere atoms and cosmic rays. The space-based experiments can resolve the species of particles but the energy ranges are limited by the relative small acceptances except for the most abundant particles like protons and helium. Therefore, the FD of cosmic ray electrons and positrons have just been investigated by the PAMELA experiment in the low energy range ($<5$ GeV) with limited statistics. In this paper, we study the FD event occurred in September, 2017, with the electron and positron data recorded by the Dark Matter Particle Explorer. The evolution of the FDs from 2 GeV to 20 GeV with a time resolution of 6 hours are given. We observe two solar energetic particle events in the time profile of the intensity of cosmic rays, the earlier and weak one has not been shown in the neutron monitor data. Furthermore, both the amplitude and recovery time of fluxes of electrons and positrons show clear energy-dependence, which is important in probing the disturbances of the interplanetary environment by the coronal mass ejections.

astro-ph.HE↗

arXiv2021

MOC-GAN: Mixing Objects and Captions to Generate Realistic Images

Generating images with conditional descriptions gains increasing interests in recent years. However, existing conditional inputs are suffering from either unstructured forms (captions) or limited information and expensive labeling (scene graphs). For a targeted scene, the core items, objects, are usually definite while their interactions are flexible and hard to clearly define. Thus, we introduce a more rational setting, generating a realistic image from the objects and captions. Under this setting, objects explicitly define the critical roles in the targeted images and captions implicitly describe their rich attributes and connections. Correspondingly, a MOC-GAN is proposed to mix the inputs of two modalities to generate realistic images. It firstly infers the implicit relations between object pairs from the captions to build a hidden-state scene graph. So a multi-layer representation containing objects, relations and captions is constructed, where the scene graph provides the structures of the scene and the caption provides the image-level guidance. Then a cascaded attentive generative network is designed to coarse-to-fine generate phrase patch by paying attention to the most relevant words in the caption. In addition, a phrase-wise DAMSM is proposed to better supervise the fine-grained phrase-patch consistency. On COCO dataset, our method outperforms the state-of-the-art methods on both Inception Score and FID while maintaining high visual quality. Extensive experiments demonstrate the unique features of our proposed method.

cs.CV↗

arXiv2021

Multistream CNN for Robust Acoustic Modeling

This paper proposes multistream CNN, a novel neural network architecture for robust acoustic modeling in speech recognition tasks. The proposed architecture processes input speech with diverse temporal resolutions by applying different dilation rates to convolutional neural networks across multiple streams to achieve the robustness. The dilation rates are selected from the multiples of a sub-sampling rate of 3 frames. Each stream stacks TDNN-F layers (a variant of 1D CNN), and output embedding vectors from the streams are concatenated then projected to the final layer. We validate the effectiveness of the proposed multistream CNN architecture by showing consistent improvements against Kaldi's best TDNN-F model across various data sets. Multistream CNN improves the WER of the test-other set in the LibriSpeech corpus by 12% (relative). On custom data from ASAPP's production ASR system for a contact center, it records a relative WER improvement of 11% for customer channel audio to prove its robustness to data in the wild. In terms of real-time factor, multistream CNN outperforms the baseline TDNN-F by 15%, which also suggests its practicality on production systems. When combined with self-attentive SRU LM rescoring, multistream CNN contributes for ASAPP to achieve the best WER of 1.75% on test-clean in LibriSpeech.

eess.AS↗