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A Far-Range Off-line Camera Calibration Method for Stereo Lane Detection Systems

A Far-Range Off-line Camera Calibration Method for Stereo La...

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IEEE Instrumentation and Measurement technology Conference

作者： Andras Bodis-Szomoru Tamas Daboczi Zoltan Fazekas Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungary

A far-range camera calibration method for vision sensors used in automatic lane detection systems is investigated. Autonomous vehicle guidance based on stereo image acquisition requires the knowledge of the camera parameters, such as camera position, orientation, lens distortion, focal length etc. with high precision. Calibration is performed by placing markers in known positions in front of the vehicle holding the camera(s) and by detecting the location of their images in the acquired snapshots. The parameters are then estimated by minimizing the geometric error in the image. Most of the methods discovered in the literature do not consider errors in the measurement of marker locations. However, a precise marker arrangement for far-range calibration might be expensive to set up. This paper shows that imprecision in the 3D location of the markers can not be tolerated in some practical situations and in such cases, a different optimization is proposed in the calibration of the extrinsic camera parameters (camera position and orientation). A position estimation method is also shown to extract marker positions from far-range laser distance meter measurements. The estimated marker positions are corrected by considering aiming errors, as well. Parameter errors are also estimated. It will be shown that our new calibration and optimization method is expected to result a good accuracy compared to commercial methods.

关键词： Cameras Calibration Remotely operated vehicles Sensor systems Mobile robots Navigation Lenses Vehicle detection Parameter estimation Position measurement

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Bandwidth guarantees for resilient Ethernet networks through RSTP port cost optimization

Bandwidth guarantees for resilient Ethernet networks through...

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AccessNets International Conference on Access Networks & Workshops

作者： Andras Kern Istvan Moldovan Tibor Cinkler Traffic Analysis and Network Performance Laboratory Ericsson Research Limited Budapest Hungary Department of Telecommunications and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

Ethernet protocol is the most wide-spread protocol in the local area network (LAN) environment. It is cost effective, simple, and provides high speeds, exactly what is needed in the provider network. However, deployment in the provider network imposes carrier-grade requirements. Standardization bodies realized this, and they are extending its capabilities: QoS support and traffic management by 802.1Q virtual LANs (VLANs), traffic engineering by 802.1s multiple spanning tree protocol (MSTP), administration and management issues by 802.1 ag connectivity fault management (CFM). However, with carrier-grade extensions Ethernet started to lose an important property: simplicity. Often the topology of the Ethernet aggregation is simple, tree-like, so complex protocols like MSTP are not required even when resilience is supported by adding several links. In most cases the plain rapid spanning tree protocol (RSTP) can provide the necessary restoration and loop protection capability. However, the default settings of the RSTP protocol may not provide optimal network utilization, and it is difficult to predict its behavior after a failure. In this paper we present a tool for RSTP optimization, which engineers the network for best utilization while also ensures that optimal paths will be selected after a link failure. The result of the optimization is a port cost set for all bridge interfaces. The optimization is performed off-line using an integer linear program (ILP). We show that compared to the default settings higher throughput can be achieved, while the required bandwidth is guaranteed in case of any link failure.

关键词： Bandwidth Ethernet networks Cost function Protocols Engineering management Local area networks Telecommunication traffic Standardization Topology Resilience

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Improved High Dynamic Range Image Reproduction Method

Improved High Dynamic Range Image Reproduction Method

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International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： Andras Rovid Takeshi Hashimoto Peter Varlaki Department of Electrical and Electronics Engineering Shizuoka University Hamamatsu Japan Department of Vehicles and Light-Weight Structure Analysis Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

High dynamic range (HDR) of illumination may cause serious distortions and other problems in viewing and further processing of digital images. This paper describes a new algorithm for HDR image creation based on merging images taken with different exposure time. There are many fields, in which HDR images can be used advantageously, with the help of them the accuracy, reliability and many other features of the certain image processing methods can be improved.

关键词： Dynamic range Lighting Image processing Digital images Cameras Layout Image edge detection Laplace equations Automotive engineering Vehicles

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On Classification Confidence and Ranking Using Decision Trees

On Classification Confidence and Ranking Using Decision Tree...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： Norbert Toth Bela Pataki Department of Measurement and Information Systems Magyar tudóosok körútja 2. Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

In this paper a novel method is proposed that extends the decision tree framework, allowing standard decision tree classifiers to provide a unique certainty value for every input sample they classify. This value is calculated for every input sample individually and represents the classifier's certainty in the *** algorithm consists of three main parts. 1) The input sample's distance is calculated to the decision boundary. This step involves solving a set of linearly constrained quadratic programs. The distance calculating procedure also allows the use of different distance metrics, where the minimal distance projection is not necessarily invariant. 2) Kernel density estimation is done on the distance values of a training set to obtain conditional true and false classification profiles. 3) Using the conditional densities Bayesian computation is applied to calculate the conditional true classification probability, which we use as classification certainty. The algorithm proposed in this paper is not limited to axis parallel trees, it can be applied to any kind of decision tree where the decisions are hyperplanes (not necessarily parallel to the axes). The algorithm does not alter the tree structure, the growth process is not modified. It only uses the training data to obtain true and false classification profiles conditional to distance from the decision boundary. The usability of the method is demonstrated on two examples. One artificial two dimensional dataset, and one real world nine dimensional dataset. It is shown that the method can significantly increase the classification accuracy (in the cost of rejecting a certain number of samples, saying their classification would be too "risky"). It is also demonstrated that the classification certainty value can be effectively used for ranking purposes.

关键词： Classification tree analysis Decision trees Classification algorithms Kernel Bayesian methods Probability Tree data structures Training data Usability Costs

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Object Categorization Using VFA-generated Nodemaps and Hierarchical Temporal Memories

Object Categorization Using VFA-generated Nodemaps and Hiera...

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International Conference on Computational Cybernetics (ICCC)

作者： Adam B. Csapo Peter Baranyi Domonkos Tikk Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Telecommunication & Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

Object categorization and recognition have proved to be difficult tasks in artificial intelligence for several decades. With the recent emergence of biologically inspired soft-computing methods, promising results in specialized application domains are more and more common. In this paper, we propose a novel object categorization method based on statistical properties of nodes -derived from the VFA model -and hierarchical temporal memories. A referential categorization method, obtained by feeding grayscale pixel levels to hierarchical temporal memories, is used to evaluate the model's performance. Results show that categorization based on the statistics of nodes seems to yield higher success rates. This is in correspondence with Biederman's conjecture in his theory of recognition by components (RBC), according to which the statistics of nodes, end points and corners carry essential and sufficient information for object recognition [1]. The first section of this paper consists of a brief introduction, in which we restate the formal definition of the VFA model, as well as present its node-filtering applications. This will be followed by a presentation of the HTM theory for size-and orientation-invariant object representation. Finally, we give a detailed case study in which a hierarchical temporal memory is used to distinguish between two, as well as several object categories.

关键词： Statistics Object recognition Biological system modeling Gray-scale Telecommunication computing Automation Informatics Artificial intelligence Brain modeling Data structures

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Recovering refined surface normals for relighting clothing in dynamic scenes

Recovering refined surface normals for relighting clothing i...

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4th European Conference on Visual Media Production

作者： P. Csakany F. Vajda A. Hilton Centre for Vision speech and Signal Processing University of Surrey Guildford UK Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

In this paper we present a method to relight captured 3D video sequences of non-rigid, dynamic scenes, such as clothing of real actors, reconstructed from multiple view video. A view-dependent approach is introduced to refine an initial coarse surface reconstruction using shape-from-shading to estimate detailed surface normals. The prior surface approximation is used to constrain the simultaneous estimation of surface normals and scene illumination, under the assumption of Lambertian surface reflectance. This approach enables detailed surface normals of a moving non-rigid object to be estimated from a single image frame. Refined normal estimates from multiple views are integrated into a single surface normal map. This approach allows highly non-rigid surfaces, such as creases in clothing, to be relit whilst preserving the detailed dynamics observed in video.

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Iterative Feedback Tuning Approach to Development of PI-Fuzzy Controllers

Iterative Feedback Tuning Approach to Development of PI-Fuzz...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Radu-Emil Precup Zsuzsa Preitl Stefan Preitl Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania Department of Control and Transport Automation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The paper proposes an original development method of Pi-fuzzy controllers. Accepting the controlled plants being described with simplified linear mathematical models, the method starts with linear PI controller development in terms of Iterative Feedback Tuning expressed in discrete-time. It is accompanied by a linear development method applied in delta domain. Next, the results of the linear development are transferred to the development of the fuzzy blocks in PI-fuzzy controllers by the modal equivalence principle, resulting in new two-degree-of-freedom Mamdani Pi-fuzzy controllers. Realtime experimental results in controlling a nonlinear servo-system validate the development method, where the linear development is performed using the Extended Symmetrical Optimum method.

关键词： Iterative methods Feedback Fuzzy control Control systems Automatic control Three-term control Automation Cascading style sheets Informatics Sampling methods

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NFC Applications and Business Model of the Ecosystem

NFC Applications and Business Model of the Ecosystem

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16th IST Mobile and Wireless Communications, vol.3

作者： B. Benyo A. Vilmos K. Kovacs L. Kutor Budapest University슠of슠Technology슠and슠Economics Budapest Hungary SafePay Systems KFT Budapest Hungary Széchenyi István University Gyor Hungary Budapest Polytechnic Budapest Hungary

StoLPaN, a pan-European consortium of companies, universities and user groups co-funded by the European Commission (EU), Information Society Technologies (IST) Programme aims to define open commercial and technical frameworks for the remote management of NFC-enabled services on mobile devices. These frameworks will facilitate the deployment of NFC-enabled mobile applications across a wide range of vertical markets, regardless of the phone type and the nature of the services required. This paper introduces the business aspects of the NFC based service development and the technical infrastructure implementing the core of the NFC-enabled services.

关键词： Mobile communication Near Field Communication (NFC) RFID OTA Software engineering

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Estimation of Multiplexing Gain on Small Business VoIP Networks

Estimation of Multiplexing Gain on Small Business VoIP Netwo...

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IEEE Symposium on Computers and Communications (ISCC)

作者： Szabolcs Mate Kis Jozsef Biro Sandor Szekely Department of Telecommunication and Media Informatics Budapest University슠of슠Technology슠and슠Economics Hungary Nokia Siemens Networks GmbH and Company KG Munich Germany

In this paper we shall establish a set of dimensioning rules for different VoIP networks using various measurement-based user behavior properties as input parameters. In order to solve the problem of dimensioning VoIP networks we focus on the aggregated VoIP links. These dimensioning procedures undoubtedly play an important role in efficiently operating extreme telephony networks like call centers and Small Businesses. Such special networks produce traffic characteristics significantly different from those of PSTN networks or general VoIP networks. Our purpose is to use simple input parameters in order to estimate the traffic characteristics of a certain link. By keeping the QoS parameters in sufficient range we present a solution to approximate link usage. The communication may be characterized with special properties such as few but very active subscribers, high internal call rate, very long-, or very short call durations, etc. In this way a simple and useful dimensioning method is achieved, utilizing the very properties of such networks, which may reduce the number of required voice channels operated.

关键词： Internet telephony Telecommunication traffic IP networks Costs Informatics Business communication Search engines Companies Bandwidth Access protocols

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A Simple Control Solution for Traction Motor Used in Hybrid Vehicles

A Simple Control Solution for Traction Motor Used in Hybrid ...

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International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： Zsuzsa Preitl Peter Bauer Jozsef Bokor Department of Control and Transport Automation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Electric motors (EM) are widely used in industry for a large variety of applications, such as traction motors used in electric and hybrid vehicles. In this paper a hybrid electric vehicle is considered, which contains both an internal combustion engine and an EM. Without focusing on the other components of the vehicle, the EM is treated in detail, both regarding modelling aspects and control solutions. After a brief modelling of the plant, two cascade speed control solutions are presented: first a classical PI+PI cascade control solution is presented. Then a correction term is introduced as a PI + a non-homogenous structured PI controller solution. The controllers are developed using the Modulus-Optimum method for the inner loop, and the extended symmetrical optimum method, corrected based on the 2p-SO-method, for the outer loop (for a more efficient disturbance rejection). Simulations were performed using numerical values taken from a real application consisting in a hybrid vehicle prototype, showing satisfactory behaviour.

关键词： Traction motors Hybrid electric vehicles Power system modeling Mathematical model Automatic control Automation Internal combustion engines Velocity control Control systems Generators

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