About
Perception for autonomous vehicles | Robotics | Computer Vision | LIDAR Vision | Deep…
Activity
899 followers
Experience
Education
Licenses & Certifications
Projects
-
Model Predictive Controller for Autonomous driving
See projectThis is MPC (model predictive controller) can predict steering and throttle to drive in a simulator.
-
Autonomous vehicle advanced lane finding
See projectExplored traditional computer vision methods for detecting lane lines. This included tracking the lanes radius of curvature and distance from center the vehicle was positioned.
-
Behavioral cloning for an autonomous vehicle with Deep Learning
See projectTrain an end-to-end neural network model to successfully drive around the track in a simulator without going off the road. For this project I implemented a modified SqueezeNet model.
-
TrackMPNN: A Message Passing Neural Network for End-to-End Multi-object Tracking
-
See projectThis study follows many classical approaches to multi-object tracking (MOT) that model the problem using dynamic graphical data structures, and adapts this formulation to make it amenable to modern neural networks. Our main contributions in this work are the creation of a framework based on dynamic undirected graphs that represent the data association problem over multiple timesteps, and a message passing graph neural network (MPNN) that operates on these graphs to produce the desired…
This study follows many classical approaches to multi-object tracking (MOT) that model the problem using dynamic graphical data structures, and adapts this formulation to make it amenable to modern neural networks. Our main contributions in this work are the creation of a framework based on dynamic undirected graphs that represent the data association problem over multiple timesteps, and a message passing graph neural network (MPNN) that operates on these graphs to produce the desired likelihood for every association therein. We also provide solutions and propositions for the computational problems that need to be addressed to create a memory-efficient, real-time, online algorithm that can reason over multiple timesteps, correct previous mistakes, update beliefs, and handle missed/false detections. To demonstrate the efficacy of our approach, we only use the 2D box location and object category ID to construct the descriptor for each object instance. Despite this, our model performs on par with state-of-the-art approaches that make use of additional sensors, as well as multiple hand-crafted and/or learned features. This illustrates that given the right problem formulation and model design, raw bounding boxes (and their kinematics) from any off-the-shelf detector are sufficient to achieve competitive tracking results on challenging MOT benchmarks.
Languages
-
Tigrinya
Native or bilingual proficiency
-
English
Native or bilingual proficiency
Recommendations received
9 people have recommended Mez
Join now to viewOther similar profiles
Explore top content on LinkedIn
Find curated posts and insights for relevant topics all in one place.
View top content