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Visual feature tracking aided orientation estimation in modern wearables

Visual feature tracking aided orientation estimation in mode...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： László Kundra Péter Ekler Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

In this paper techniques are introduced for orientation estimation of wearable devices (like Google Glass) through bias compensation of gyroscope. The standard problem of using gyroscopes is that integration of raw angular rates with non-zero bias will lead to continuous drift of the estimated orientation. To examine the nature of this bias, a simple error model was constructed for the whole device in terms of inertial sensing. For eliminating the bias, a sensor fusion algorithm was developed using the benefits of optical flow from the camera of the device. Our orientation estimator and bias removal method is based on complementary filters, in combination with an adaptive reliability filter for the optical flow features. The feedback of the fused result is combined with the raw gyroscope angular rates to compensate the bias. Various measurements were recorded on a real device running the demanding optical flow onboard. This way a robust and reliable fusion was constructed, which matched our expectations, and has been validated with simulations and real world measurements.

关键词： Optical imaging Optical sensors Gyroscopes Estimation Reliability Adaptive optics Cameras

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Fast android application development with component modeling

Fast android application development with component modeling

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Gábor Kövesdán Márk Asztalos László Lengyel Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

Application of mobile and cyber-physical systems play an important role in cognitive infocommunications, especially in the Socio-Cognitive ICT area, because they are able to facilitate the requested information to users quickly. The Android platform is a good foundation for such systems since it runs on a wide variety of devices and provides some advanced mechanisms for integrating loosely coupled components. These capabilities facilitate efficient component-based development. However, these mechanisms also introduce some difficulties into the development process. On one hand, some functionalities are not encapsulated into a single piece of code but have to be implemented and configured at several distinct source files. On the other hand, it is easy to break the consistency among these artefacts. In this paper, we report on our work in progress tool, which addresses these issues by modeling commonly used functionalities in Android applications and generating a skeleton for the implementation. We also report on the design of this tool. The tool and the experiences of its development will be useful for software developers that aspire to create code generators and cognitive infocommunications related mobile applications based on the Android platform.

关键词： Androids Humanoid robots Generators Unified modeling language Syntactics DSL Java

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Non-deceiving features in fused optical flow gyroscopes

Non-deceiving features in fused optical flow gyroscopes

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International Symposium on applied Machine Intelligence and informatics (SAMI)

作者： László Kundra Péter Ekler Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

Standard gyroscopes found in mobile phones tend to have bias in output angular rate. Nowadays these mobiles are also equipped with high resolution cameras and multimedia-ready processors capable to calculate optical flow from shot images. In order to lower the gyroscope bias, thus leading to a less drifting integrated angle, camera based optical flow values can aid regular gyroscope values to produce a robust output. In this paper an adaptive algorithm is presented to fuse optical flow angular rates with gyroscope output, in a way to eliminate deceiving tracked features on camera images, caused by moving object in the field of view of the camera. Measurements were recorded with a robotic arm using an Android phone. Further simulations were also tested in MATLAB to investigate the limits of this algorithm.

关键词： Gyroscopes Optical imaging Optical sensors Cameras Optical variables measurement Reliability

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Fundamentals of a graph transformation based web data processing system

Fundamentals of a graph transformation based web data proces...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Gábor Imre Gergely Mezei Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

Internet is the most complex and complete source of information in the history of mankind. The innumerable webpages and the myriads of data providers form a complex, highly heterogeneous, continuously evolving system. This environment demands continuous research of information retrieval. Here we present our contribution: a lightweight, semi-formal approach of web exploration and web data analysis. Our approach focuses on analyzing heterogeneous, semi- or barely structured web data. Complex queries can be performed over multiple heterogeneous data sources; graph transformations can be used to adjust the queries and to analyze the results. This approach integrates the a priori human knowledge, an effective web querying method, the formality of graph transformations and optionally qualitative and quantitative analysis algorithms. We present an illustrative case study performing multi-domain search and data transformations: Stack Overflow users are searched with high contribution in a topic, then the LinkedIn profiles of these users is tried to be matched.

关键词： Navigation LinkedIn Arrays Algorithm design and analysis Mashups Semantics Data processing

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Incorporating sensory data collected on mobile devices into user experience analysis

Incorporating sensory data collected on mobile devices into ...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Akos Nagy Bence Kovari Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

Planning for usability and a great user experience is crucial when developing applications for touch-screen mobile devices. A good user experience enables users to use the devices and the applications intuitively, steepening the learning curve. But since these devices are new relative to PC-s, developers do not have a generally accepted toolset or knowledge-base to analyze or take into consideration user habits. The goal of this paper is to address this problem. First we define some fundamental criteria for a framework that can help developers collect data automatically. After having established the theoretical tenets, we present an implementation for the Windows 8 mobile platform, and finally, we analyze the data collected from a consumer application for patterns and useful conclusions which can serve as the basis of a knowledgebase holding general guidelines about developing applications for these devices.

关键词： Mobile communication Mobile handsets User interfaces Conferences Monitoring Histograms Testing

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A 19 level dodecagonal voltage space vector structure for medium voltage im drive

A 19 level dodecagonal voltage space vector structure for me...

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作者： Kaarthik, R. Sudharshan Gopakumar, K. Cecati, Carlo Nagy, Istvan Department of Electronic Systems Engineering Indian Institute of Science Bangalore India Dept. of Industrial and Information Engineering and Economics University of l'Aquila L'Aquila Italy Dept. of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9781479940325

In this paper, a nineteen level dodecagonal voltage space vector structure is proposed for the first time, by cascading two asymmetric three level inverters with isolated H-Bridges. The dodecagonal structure is made possible by proper selection of DC link voltages and switching states of the inverters. The proposed scheme retains all the advantages of multilevel topologies as well the advantages of dodecagonal voltage space vector structure. A generic and simple method for calculation of PWM timings is proposed. Also, a new method of switching technique is proposed, which ensures minimum switching while maintaining the linearity between modulating signals and the output phase voltages. Extensive simulation and experimental results have been presented for validation of the proposed concept. © 2014 IEEE.

关键词： Pulse width modulation

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The design of a biofeedback framework for dynamic difficulty adjustment in games

The design of a biofeedback framework for dynamic difficulty...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Luca Szegletes Máté Köles Bertalan Forstner Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary Department of Ergonomics and Psychology Budapest University of Technology and Economics Hungary

The gamification of serious games is a successful and ongoing trend that aims to involve even the latest generation of users to help them improve certain cognitive abilities. A valid path of further improving such games would be through implementing real-time feedback from the users into certain gameplay aspects. Physiological signals can provide a direct route to the current state of the user without any overt interaction between the device and the player. Here we outline a framework that aims to dynamically adjust the difficulty of serious games based on physiological signals.

关键词： Games Biomedical monitoring Biological control systems Pipelines Mobile handsets Monitoring Computer architecture

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Influence of the Manipulation of the Polytopic Tensor Product Model Representation on the Control Performance of LMI Based Design

Influence of the Manipulation of the Polytopic Tensor Produc...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Alexandra Szöllósi Péter Baranyi Péter Várlaki Hungarian Academy of Sciences and Budapest University of Technology and Economics Department of Telecommunications and Media Informatics 3D Internet based Control and Communications Laboratory Computer and Automation Research Institute 3D Internet based Control and Communications Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Multidisciplinary Doctoral School of Engineering Sciences Szechenyi István University

ISBN: (纸本)9781479986989

The paper studies the effect of the manipulation of the polytopic TP model representation of a given quasi Linear Parameter Varying (qLPV) state-space model on the control performance results. The investigated model in the case study consists of the extended, Stribeck friction included three degrees of-freedom version of the aero elastic wing section of the Nonlinear Aero elastic Test Apparatus (NATA) model. The investigation is carried out through the Tensor Product (TP) model transformation based Control Design Framework, which bridges the manipulation of the polytopic representation and Linear Matrix Inequality (LMI) based control design methods. Different TP model representations of the given qLPV model are derived: a TP model representation with a sum-normalized non-negative (SNNN) convex hull, a TP model representation with a close to-normal (CNO) convex hull and interpolated TP model representations. Upon these representations Linear Matrix Inequality based design methods are applied to attain the controller and observer system components. The resulting control systems are tested through numerical simulation and their performance are compared and evaluated. The paper presents results, where the interpolated representations lead to better control performance results, which indicates, that the manipulation of the polytopic TP model representation may lead to further potential optimization possibilities. Also, this shows, that in order to find the optimal solution the manipulation is a necessary and important step.

关键词： Mathematical model Numerical models Observers Control design Tensile stress Interpolation Numerical simulation

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Edge detection in discretized range images

Edge detection in discretized range images

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International Symposium on Computational Intelligence and informatics

作者： Viktor Kovacs Gabor Tevesz Department of Automation and Applied Informatics Budapest University of Technology Budapest Hungary

In this paper we show a method for edge detection in discretized range images. Heavy quantization results in low number of layers present in range images. These values suffer from systematic error and must not be treated as random additive noise. In our method we utilize morphologic operations for noise noise reduction and skeleton extraction for each layer. Based on the extracted features such as layer skeletons we present an algorithm to identify and classify edges in range images. We present edge detection results of simulated and captured real range images.

关键词： Image edge detection Skeleton Image segmentation Feature extraction Estimation Quantization (signal) Sensors

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Precise 3D pose estimation of human faces

Precise 3D pose estimation of human faces

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International Conference on Computer Vision Theory and Applications (VISAPP)

作者： Ákos Pernek Levente Hajder Hungarian Academy of Sciences Computer and Automation Research Institute Budapest Hungary Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9781479976867

Robust human face recognition is one of the most important open tasks in computer vision. This study deals with a challenging subproblem of face recognition: the aim of the paper is to give a precise estimation for the 3D head pose. The main contribution of this study is a novel non-rigid Structure from Motion (SfM) algorithm which utilizes the fact that the human face is quasi-symmetric. The input of the proposed algorithm is a set of tracked feature points of the face. In order to increase the precision of the head pose estimation, we improved one of the best eye corner detectors and fused the results with the input set of feature points. The proposed methods were evaluated on real and synthetic face sequences. The real sequences were captured using regular (low-cost) web-cams.

关键词： Robustness Polynomials Optimization

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