Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify various road information. The commonly used technique is based on extracting and calculating various features of the image. The recent development of deep learning-based method has better reliability and processing speed and has a greater advantage in recognizing complex elements. For depth estimation, vision sensor is also used for ranging due to their small size and low cost. Monocular camera uses image data from a single viewpoint as input to estimate object depth. In contrast, stereo vision is based on parallax and matching feature points of different views, and the application of deep learning also further improves the accuracy. In addition, Simultaneous Location and Mapping (SLAM) can establish a model of the road environment, thus helping the vehicle perceive the surrounding environment and complete the tasks. In this paper, we introduce and compare various methods of object detection and identification, then explain the development of depth estimation and compare various methods based on monocular, stereo, and RDBG sensors, next review and compare various methods of SLAM, and finally summarize the current problems and present the future development trends of vision technologies.

最初受生物神经网络（BNN）启发的人工神经网络（ANN）在许多任务（例如视觉表示学习）中取得了巨大的成功。但是，由于缺乏有效的工具来链接和互为两个不同的域，并且缺乏代表的一般有效的框架，ANN和BNN中的视觉表示之间是否存在语义相关性/连接仍然很大程度上尚未探索。 BNN中的视觉语义，例如人类功能性脑网络（FBN）。为了回答这个问题，我们提出了一个新颖的计算框架，即同步激活（同步性），以基于自然主义的功能磁共振成像（NFMRI）数据来对人脑中的ANN和BNN之间的视觉表示空间和语义进行。通过这种方法，我们能够在第一次以人类脑成像得出的生物学上有意义的描述中对神经元进行注释。我们在两个公开观看的NFMRI数据集上评估了同步操作框架。该实验证明了a）FBN中视觉表示与各种卷积神经网络（CNN）模型中的视觉表示之间的显着相关性和相似性； b）CNN的视觉表示与BNN的相似性与其在图像分类任务中的性能之间的紧密关系。总体而言，我们的研究介绍了一个一般有效的范式，以融入ANN和BNNS，并为未来的研究提供新的见解，例如脑启发的人工智能。

In this work, we tackle two vital tasks in automated driving systems, i.e., driver intent prediction and risk object identification from egocentric images. Mainly, we investigate the question: what would be good road scene-level representations for these two tasks? We contend that a scene-level representation must capture higher-level semantic and geometric representations of traffic scenes around ego-vehicle while performing actions to their destinations. To this end, we introduce the representation of semantic regions, which are areas where ego-vehicles visit while taking an afforded action (e.g., left-turn at 4-way intersections). We propose to learn scene-level representations via a novel semantic region prediction task and an automatic semantic region labeling algorithm. Extensive evaluations are conducted on the HDD and nuScenes datasets, and the learned representations lead to state-of-the-art performance for driver intention prediction and risk object identification.

With the prevalence of stream media platforms serving music search and recommendation, interpreting music by understanding audio and lyrics interactively has become an important and challenging task. However, many previous works focus on refining individual components of encoder-decoder architecture mapping music to caption tokens, ignoring the potential usage of audio and lyrics correspondence. In this paper, we propose to explicitly learn the multi-modal alignment with retrieval augmentation by contrastive learning. By learning audio-lyrics correspondence, the model is guided to learn better cross-modal attention weights, thus generating high-quality caption words. We provide both theoretical and empirical results that demonstrate the advantage of the proposed method.

In contrastive self-supervised learning, the common way to learn discriminative representation is to pull different augmented "views" of the same image closer while pushing all other images further apart, which has been proven to be effective. However, it is unavoidable to construct undesirable views containing different semantic concepts during the augmentation procedure. It would damage the semantic consistency of representation to pull these augmentations closer in the feature space indiscriminately. In this study, we introduce feature-level augmentation and propose a novel semantics-consistent feature search (SCFS) method to mitigate this negative effect. The main idea of SCFS is to adaptively search semantics-consistent features to enhance the contrast between semantics-consistent regions in different augmentations. Thus, the trained model can learn to focus on meaningful object regions, improving the semantic representation ability. Extensive experiments conducted on different datasets and tasks demonstrate that SCFS effectively improves the performance of self-supervised learning and achieves state-of-the-art performance on different downstream tasks.

Emotions play an important role in interpersonal interactions and social conflict, yet their function in the development of controversy and disagreement in online conversations has not been explored. To address this gap, we study controversy on Reddit, a popular network of online discussion forums. We collect discussions from a wide variety of topical forums and use emotion detection to recognize a range of emotions from text, including anger, fear, joy, admiration, etc. Our study has three main findings. First, controversial comments express more anger and less admiration, joy and optimism than non-controversial comments. Second, controversial comments affect emotions of downstream comments in a discussion, usually resulting in long-term increase in anger and a decrease in positive emotions, although the magnitude and direction of emotional change depends on the forum. Finally, we show that emotions help better predict which comments will become controversial. Understanding emotional dynamics of online discussions can help communities to better manage conversations.

Fine-tuning pre-trained models has been ubiquitously proven to be effective in a wide range of NLP tasks. However, fine-tuning the whole model is parameter inefficient as it always yields an entirely new model for each task. Currently, many research works propose to only fine-tune a small portion of the parameters while keeping most of the parameters shared across different tasks. These methods achieve surprisingly good performance and are shown to be more stable than their corresponding fully fine-tuned counterparts. However, such kind of methods is still not well understood. Some natural questions arise: How does the parameter sparsity lead to promising performance? Why is the model more stable than the fully fine-tuned models? How to choose the tunable parameters? In this paper, we first categorize the existing methods into random approaches, rule-based approaches, and projection-based approaches based on how they choose which parameters to tune. Then, we show that all of the methods are actually sparse fine-tuned models and conduct a novel theoretical analysis of them. We indicate that the sparsity is actually imposing a regularization on the original model by controlling the upper bound of the stability. Such stability leads to better generalization capability which has been empirically observed in a lot of recent research works. Despite the effectiveness of sparsity grounded by our theory, it still remains an open problem of how to choose the tunable parameters. To better choose the tunable parameters, we propose a novel Second-order Approximation Method (SAM) which approximates the original problem with an analytically solvable optimization function. The tunable parameters are determined by directly optimizing the approximation function. The experimental results show that our proposed SAM model outperforms many strong baseline models and it also verifies our theoretical analysis.

Accurate prediction of battery health is essential for real-world system management and lab-based experiment design. However, building a life-prediction model from different cycling conditions is still a challenge. Large lifetime variability results from both cycling conditions and initial manufacturing variability, and this -- along with the limited experimental resources usually available for each cycling condition -- makes data-driven lifetime prediction challenging. Here, a hierarchical Bayesian linear model is proposed for battery life prediction, combining both individual cell features (reflecting manufacturing variability) with population-wide features (reflecting the impact of cycling conditions on the population average). The individual features were collected from the first 100 cycles of data, which is around 5-10% of lifetime. The model is able to predict end of life with a root mean square error of 3.2 days and mean absolute percentage error of 8.6%, measured through 5-fold cross-validation, overperforming the baseline (non-hierarchical) model by around 12-13%.

Various depth estimation models are now widely used on many mobile and IoT devices for image segmentation, bokeh effect rendering, object tracking and many other mobile tasks. Thus, it is very crucial to have efficient and accurate depth estimation models that can run fast on low-power mobile chipsets. In this Mobile AI challenge, the target was to develop deep learning-based single image depth estimation solutions that can show a real-time performance on IoT platforms and smartphones. For this, the participants used a large-scale RGB-to-depth dataset that was collected with the ZED stereo camera capable to generated depth maps for objects located at up to 50 meters. The runtime of all models was evaluated on the Raspberry Pi 4 platform, where the developed solutions were able to generate VGA resolution depth maps at up to 27 FPS while achieving high fidelity results. All models developed in the challenge are also compatible with any Android or Linux-based mobile devices, their detailed description is provided in this paper.

Indoor scenes typically exhibit complex, spatially-varying appearance from global illumination, making inverse rendering a challenging ill-posed problem. This work presents an end-to-end, learning-based inverse rendering framework incorporating differentiable Monte Carlo raytracing with importance sampling. The framework takes a single image as input to jointly recover the underlying geometry, spatially-varying lighting, and photorealistic materials. Specifically, we introduce a physically-based differentiable rendering layer with screen-space ray tracing, resulting in more realistic specular reflections that match the input photo. In addition, we create a large-scale, photorealistic indoor scene dataset with significantly richer details like complex furniture and dedicated decorations. Further, we design a novel out-of-view lighting network with uncertainty-aware refinement leveraging hypernetwork-based neural radiance fields to predict lighting outside the view of the input photo. Through extensive evaluations on common benchmark datasets, we demonstrate superior inverse rendering quality of our method compared to state-of-the-art baselines, enabling various applications such as complex object insertion and material editing with high fidelity. Code and data will be made available at \url{https://jingsenzhu.github.io/invrend}.