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Proceedings - SIGGRAPH Asia 2023 Conference Papers, SA 2023 2023年

作者： Lin, Ming C. Bickel, Bernd University Professor of Computer Science Dr. Barry Mersky E-Nnovate Endowed Professor Capital One E-Nnovate Endowed Professor University of Maryland College Park United States The Computer Graphics and Digital Fabrication Group Vp for Technology Transfer Institute of Science and Technology Austria Austria

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A VR system for immersive teleoperation and live exploration with a mobile robot

arXiv

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arXiv 2019年

作者： Stotko, Patrick Krumpen, Stefan Schwarz, Max Lenz, Christian Behnke, Sven Klein, Reinhard Weinmann, Michael Institute of Computer Science II – Computer Graphics University of Bonn Germany Institute of Computer Science VI – Autonomous Intelligent Systems University of Bonn Germany

— Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation experience. However, standard video-based approaches suffer from a limited degree of immersion and situation awareness due to the restriction to the camera view, which impacts the navigation. In this paper, we present a novel VR-based practical system for immersive robot teleoperation and scene exploration. While being operated through the scene, a robot captures RGB-D data that is streamed to a SLAM-based live multi-client telepresence system. Here, a global 3D model of the already captured scene parts is reconstructed and streamed to the individual remote user clients where the rendering for e.g. head-mounted display devices (HMDs) is performed. We introduce a novel lightweight robot client component which transmits robot-specific data and enables a quick integration into existing robotic systems. This way, in contrast to first-person exploration systems, the operators can explore and navigate in the remote site completely independent of the current position and view of the capturing robot, complementing traditional input devices for teleoperation. We provide a proof-of-concept implementation and demonstrate the capabilities as well as the performance of our system regarding interactive object measurements and bandwidth-efficient data streaming and visualization. Furthermore, we show its benefits over purely video-based teleoperation in a user study revealing a higher degree of situation awareness and a more precise navigation in challenging environments. Copyright © 2019, The Authors. All rights reserved.

关键词： Remote control

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A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot

A VR System for Immersive Teleoperation and Live Exploration...

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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Patrick Stotko Stefan Krumpen Max Schwarz Christian Lenz Sven Behnke Reinhard Klein Michael Weinmann Institute of Computer Science II – Computer Graphics University of Bonn Germany Institute of Computer Science VI – Autonomous Intelligent Systems University of Bonn Germany

Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation experience. However, standard video-based approaches suffer from a limited degree of immersion and situation awareness due to the restriction to the camera view, which impacts the navigation. In this paper, we present a novel VR-based practical system for immersive robot teleoperation and scene exploration. While being operated through the scene, a robot captures RGB-D data that is streamed to a SLAM-based live multiclient telepresence system. Here, a global 3D model of the already captured scene parts is reconstructed and streamed to the individual remote user clients where the rendering for e.g. head-mounted display devices (HMDs) is performed. We introduce a novel lightweight robot client component which transmits robot-specific data and enables a quick integration into existing robotic systems. This way, in contrast to first- person exploration systems, the operators can explore and navigate in the remote site completely independent of the current position and view of the capturing robot, complementing traditional input devices for teleoperation. We provide a proof-of-concept implementation and demonstrate the capabilities as well as the performance of our system regarding interactive object measurements and bandwidth-efficient data streaming and visualization. Furthermore, we show its benefits over purely video-based teleoperation in a user study revealing a higher degree of situation awareness and a more precise navigation in challenging environments.

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Exceptional scattered sequences

arXiv

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arXiv 2022年

作者： Bartoli, Daniele Marino, Giuseppe Neri, Alessandro Vicino, Lara Department of Mathematics and Informatics University of Perugia Perugia Italy Department of Mathematics and Applications "R. Caccioppoli" University of Naples "Federico II" Napoli Italy Max-Planck-Institute for Mathematics in the Sciences Leipzig Germany Department of Applied Mathematics and Computer Science Technical University of Denmark Kgs. Lyngby Denmark

The concept of scattered polynomials is generalized to those of exceptional scattered sequences which are shown to be the natural algebraic counterpart of Fqn-linear MRD codes. The first infinite family in the first nontrivial case is also provided and equivalence issues are considered. As a byproduct, a new infinite family of MRD codes is *** Codes 94B05, 51E20, 94B27, 11T06 Copyright © 2022, The Authors. All rights reserved.

关键词： Polynomials

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Performance evaluations of a cloud computing physical machine with task reneging and task resubmission (feedback) 27th

Performance evaluations of a cloud computing physical machin...

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27th International Conference on computer Networks, CN 2020

作者： Kuaban, Godlove Suila Soodan, Bhavneet Singh Kumar, Rakesh Czekalski, Piotr Institute of Theoretical and Applied Informatics Polish Academy of Sciences Baltycka 5 Gliwice44-100 Poland School of Mathematics Shri Mata Vaishno Devi University KatraJammu and Kashmir182320 India Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

ISBN: (纸本)9783030507183

Cloud service providers (CSP) provide on-demand cloud computing services, reduces the cost of setting-up and scaling-up IT infrastructure and services, and stimulates shorter establishment times for start-ups that offer or use cloud-based services. Task reneging or dropping sometimes occur when a task waits in the queue longer than its timeout or execution deadline, or it is compromised and must be dropped from the queue or as an active queue management strategy to avoid tail dropping of tasks when the queues are full. Reneged or dropped tasks could be resubmitted provided they were not dropped due to security reasons. In this paper, we present a simple M/M/c/N queueing model of a cloud computing physical machine, where the interarrival times and the services times are exponentially distributed, with N buffer size and c virtual machines running in parallel. We present numerical examples to illustrate the effect of task reneging and task resubmission on the queueing delay, probability of task rejection, and the probability of immediate service. © Springer Nature Switzerland AG 2020.

关键词： Cloud computing

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Learning privacy-enhancing face representations through feature disentanglement

Learning privacy-enhancing face representations through feat...

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International Conference on Automatic Face and Gesture Recognition

作者： Blaž Bortolato Marija Ivanovska Peter Rot Janez Križaj Philipp Terhörst Naser Damer Peter Peer Vitomir Štruc Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia Faculty of Computer and Information Science University of Ljubljana Ljubljana Slovenia Fraunhofer Institute for Computer Graphics Research IGD Darmstadt Germany

ISBN: (数字)9781728130798

ISBN: (纸本)9781728130804

Convolutional Neural Networks (CNNs) are today the de-facto standard for extracting compact and discriminative face representations (templates) from images in automatic face recognition systems. Due to the characteristics of CNN models, the generated representations typically encode a multitude of information ranging from identity to soft-biometric attributes, such as age, gender or ethnicity. However, since these representations were computed for the purpose of identity recognition only, the soft-biometric information contained in the templates represents a serious privacy risk. To mitigate this problem, we present in this paper a privacy-enhancing approach capable of suppressing potentially sensitive soft-biometric information in face representations without significantly compromising identity information. Specifically, we introduce a Privacy-Enhancing Face-Representation learning Network (PFRNet) that disentangles identity from attribute information in face representations and consequently allows to efficiently suppress soft-biometrics in face templates. We demonstrate the feasibility of PFRNet on the problem of gender suppression and show through rigorous experiments on the CelebA, Labeled Faces in the Wild (LFW) and Adience datasets that the proposed disentanglement-based approach is highly effective and improves significantly on the existing state-of-the-art.

关键词： Face recognition Privacy Training Neural networks Decoding Training data Task analysis

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Minimal Cases for Computing the Generalized Relative Pose using Affine Correspondences

arXiv

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arXiv 2020年

作者： Guan, Banglei Zhao, Ji Barath, Daniel Fraundorfer, Friedrich College of Aerospace Science and Engineering National University of Defense Technology China Computer Vision and Geometry Group Department of Computer Science ETH Zürich Institute for Computer Graphics and Vision Graz University of Technology Austria Remote Sensing Technology Institute German Aerospace Center Germany

We propose three novel solvers for estimating the relative pose of a multi-camera system from affine correspondences (ACs). A new constraint is derived interpreting the relationship of ACs and the generalized camera model. Using the constraint, we demonstrate efficient solvers for two types of motions assumed. Considering that the cameras undergo planar motion, we propose a minimal solution using a single AC and a solver with two ACs to overcome the degenerate case. Also, we propose a minimal solution using two ACs with known vertical direction, e.g., from an IMU. Since the proposed methods require significantly fewer correspondences than state-of-the-art algorithms, they can be efficiently used within RANSAC for outlier removal and initial motion estimation. The solvers are tested both on synthetic data and on real-world scenes from the KITTI odometry benchmark. It is shown that the accuracy of the estimated poses is superior to the state-of-the-art techniques. Copyright © 2020, The Authors. All rights reserved.

关键词： Motion estimation

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Can GAN Generated Morphs Threaten Face Recognition Systems Equally as Landmark Based Morphs? - Vulnerability and Detection

Can GAN Generated Morphs Threaten Face Recognition Systems E...

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International Workshop on Biometrics and Forensics (IWBF)

作者： Sushma Venkatesh Haoyu Zhang Raghavendra Ramachandra Kiran Raja Naser Damer Christoph Busch Norwegian Biometrics Laboratory Norwegian University of Science and Technology (NTNU) Norway Fraunhofer Institute for Computer Graphics Research IGD Darmstadt Germany

ISBN: (数字)9781728162324

ISBN: (纸本)9781728162331

The primary objective of face morphing is to com-bine face images of different data subjects (e.g. an malicious actor and an accomplice) to generate a face image that can be equally verified for both contributing data subjects. In this paper, we propose a new framework for generating face morphs using a newer Generative Adversarial Network (GAN) - StyleGAN. In contrast to earlier works, we generate realistic morphs of both high-quality and high resolution of 1024 × 1024 pixels. With the newly created morphing dataset of 2500 morphed face images, we pose a critical question in this work. (i) Can GAN generated morphs threaten Face Recognition Systems (FRS) equally as Landmark based morphs? Seeking an answer, we benchmark the vulnerability of a Commercial-Off-The-Shelf FRS (COTS) and a deep learning-based FRS (ArcFace). This work also benchmarks the detection approaches for both GAN generated morphs against the landmark based morphs using established Morphing Attack Detection (MAD) schemes.

关键词： Biometrics Face Recognition Morphing At-tack Vulnerability image morphing morphs Facial Recognition Biometrics Vulnerability face recognition system Flexed Sidebent Rotated landmarks

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Patterns of Rational Solutions in a Split-Ring-Resonator-Based Left-Handed Coplanar Waveguide

SSRN

引用

SSRN 2024年

作者： Abbagari, Souleymanou Houwe, Alphonse Akinyemi, Lanre Ghfar, Ayman A. Ahmad, Hijaz Doka, Serge Yamigno Department of Marine Engineering Limbé Nautical Arts and Fisheries Institute P.O Box 485 Limbé Cameroon Department of Mathematics Hampton University HamptonVA United States Department of Chemistry College of Science King Saud University P.O. Box 2455 Riyadh11451 Saudi Arabia Section of Mathematics International Telematic University Uninettuno Corso Vittorio Emanuele II 39 Roma00186 Italy Department of Computer Science and Mathematics Lebanese American University Beirut Lebanon Department of Physics Faculty of Science The University of Ngaoundéré P.O. Box 454 Ngaoundéré Cameroon

The exploration of rational solutions of first and second orders, along with the investigation of modulation instability, has been conducted in the left-handed coplanar waveguide based on split-ring resonators. This study is inspired by the research of \cite{M18}, where solitonic rogue wave structures were derived as manifestations of the growth rate of modulation instability. Under this argument, we have used the perturbations method to derive the Kundu-Eckhaus equation to analyze the characteristics of the high-order rogue waves. Beside these findings, we have realized that rogue wave structures are propagated in the left-handed frequency bands. We also notice that modulation instability growth develops in the frequency bands when the product of the nonlinearity coefficient and dispersion coefficient is positive. Through a numerical simulation, we have developed the rogue wave objects to confirm our analytical predictions. Another significant aspect addressed in this study is the sensitivity of both modulation instability and higher-order rogue waves to the normalized parameter introduced through the third-order expansion of the voltage-dependent capacitance and perturbed wave number. The long-lived results have been equally validated for specific times of propagation. These results could be used in the future in left-handed metamaterials for several applications © 2024, The Authors. All rights reserved.

关键词： Coplanar waveguides

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An ensemble classifier combining Dempster–Shafer theory and feature selection methods aggregation strategy

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Applied Soft Computing 2025年 180卷

作者： Hasna Chamlal Fatima Ezzahra Rebbah Tayeb Ouaderhman Computer Science and Systems Laboratory (LIS) Faculty of Sciences Ain Chock Hassan II University of Casablanca Morocco Watch Laboratory of Emerging Technologies (LAVETE) Institute of Sports Sciences Hassan I University Settat Morocco

Several individual feature selection methods have proven to be important preprocessing techniques for dimensionality reduction in microarray gene expression datasets. However, one of the deficiencies of these methods is that their results differ from classifier to classifier and from method to method, even for a single domain. The ensemble classification method is a promising solution that can be used to alleviate this issue by combining the outputs of several classifiers and individual feature selection methods. In this paper, an ensemble of classifiers and feature selection approaches is proposed based on Dempster–Shafer evidence theory and the weighted majority vote (EC-FMDS). First, feature selectin methods from different categories are applied to generate feature subsets. Then, the Dempster–Shafer theory is used to fuse the output of the individual feature selection methods and assign a weight to each classifier. Finally, by fusing all the subsets and weights of classifiers, the weighted majority vote is applied to gain the final prediction and calculate the performance measures. To evaluate the effectiveness of the proposed EC-FMDS approach, eight feature selection methods and four classifiers are used in the ensemble method. The experimental analysis is conducted using twelve microarray datasets based on accuracy, recall, and precision measures. A comparative study with the results of the individual feature selection methods and the ensemble state-of-the-art proves the effectiveness of the proposed approach.

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