No abstract

The high amount of sensors required for autonomous driving poses enormous challenges on the capacity of automotive bus systems. There is a need to understand tradeoffs between bitrate and perception performance. In this paper, we compare the image compression standards JPEG, JPEG2000, and WebP to a modern encoder/decoder image compression approach based on generative adversarial networks (GANs). We evaluate both the pure compression performance using typical metrics such as peak signal-to-noise ratio (PSNR), structural similarity (SSIM) and others, but also the performance of a subsequent perception function, namely a semantic segmentation (characterized by the mean intersection over union (mIoU) measure). Not surprisingly, for all investigated compression methods, a higher bitrate means better results in all investigated quality metrics. Interestingly, however, we show that the semantic segmentation mIoU of the GAN autoencoder in the highly relevant low-bitrate regime (at 0.0625 bit/pixel) is better by 3.9 % absolute than JPEG2000, although the latter still is considerably better in terms of PSNR (5.91 dB difference). This effect can greatly be enlarged by training the semantic segmentation model with images originating from the decoder, so that the mIoU using the segmentation model trained by GAN reconstructions exceeds the use of the model trained with original images by almost 20 % absolute. We conclude that distributed perception in future autonomous driving will most probably not provide a solution to the automotive bus capacity bottleneck by using standard compression schemes such as JPEG2000, but requires modern coding approaches, with the GAN encoder/decoder method being a promising candidate.

No abstract

Deployment of modern data-driven machine learning methods, most often realized by deep neural networks (DNNs), in safety-critical applications such as health care, industrial plant control, or autonomous driving is highly challenging due to numerous model-inherent shortcomings. These shortcomings are diverse and range from a lack of generalization over insufficient interpretability and implausible predictions to directed attacks by means of malicious inputs. Cyber-physical systems employing DNNs are therefore likely to suffer from so-called safety concerns, properties that preclude their deployment as no argument or experimental setup can help to assess the remaining risk. In recent years, an abundance of state-of-the-art techniques aiming to address these safety concerns has emerged. This chapter provides a structured and broad overview of them. We first identify categories of insufficiencies to then describe research activities aiming at their detection, quantification, or mitigation. Our work addresses machine learning experts and safety engineers alike: The former ones might profit from the broad range of machine learning topics covered and discussions on limitations of recent methods. The latter ones might gain insights into the specifics of modern machine learning methods. We hope that this contribution fuels discussions on desiderata for machine learning systems and strategies on how to help to advance existing approaches accordingly.

No abstract

No abstract

No abstract

No abstract