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European Signal Processing Conference

作者： Domonkos Varga Tamas Sziranyi MTA SZTAKI Institute for Computer Science and Control Budapest University of Technology Department of Networked Systems and Services MTA SZTAKI Institute for Computer Science and Control Budapest University of Technology Department of Material Handling and Logistics Systems

ISBN: (纸本)9781509018918

Pedestrian detection is a fundamental computer vision task with many practical applications in robotics, video surveillance, autonomous driving, and automotive safety. However, it is still a challenging problem due to the tremendous variations in illumination, clothing, color, scale, and pose. The aim of this paper to present our dynamic pedestrian detector. In this paper, we propose a pedestrian detection approach that uses convolutional neural network (CNN) to differentiate pedestrian and non-pedestrian motion patterns. Although the CNN has good generalization performance, the CNN classifier is time-consuming. Therefore, we propose a novel architecture to reduce the time of feature extraction and training. Occlusion handling is one of the most important problem in pedestrian detection. For occlusion handling, we propose a method, which consists of extensive part detectors. The main advantage of our algorithm is that it can be trained on weakly labeled data, i.e. it does not require part annotations in the pedestrian bounding boxes.

关键词： Detectors Training Feature extraction Convolution Neurons Videos computer architecture Videotapes Feature extraction Pedestrians computer Architecture Convolution Functional training Neurons detector Training

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Photogrammetric 3D reconstruction of the old slaughterhouse in budapest

Photogrammetric 3D reconstruction of the old slaughterhouse ...

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International Workshop on Computational Intelligence for Multimedia Understanding (IWCIM)

作者： András L. Majdik László Tizedes Máté Bartus Tamás Szirányi Distributed Events Analysis Research Lab MTA SZTAKI-Institute for Computer Science and Control Budapest Hungary

ISBN: (纸本)9781509055258

In this paper we address the problem of photo grammetric 3D reconstructions of an industrial cultural heritage site in Budapest, namely the Old Slaughterhouse. We perform an extensive comparison and evaluation of the state-of-the-art online visual SLAM (Simultaneous Localization and Mapping) and offline visual SFM (Structure from Motion) methods in order to obtain the 3D model of the building. We show results obtained using a dataset recorded with a camera-equipped Micro Air Vehicle.

关键词： Three-dimensional displays Simultaneous localization and mapping Cameras Image reconstruction Feature extraction Cultural differences Visualization

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Model reduction for linear parameter varying systems using scaled diagonal dominance

Model reduction for linear parameter varying systems using s...

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American control Conference

作者： Harald Pfifer Tamas Peni Aerospace and Engineering Mechanics Department University of Minnesota USA Systems and Control Laboratory of Institute for Computer Science and Control (MTA-SZTAKI) Budapest Hungary

ISBN: (纸本)9781467386838

A model-reduction method for linear, parameter-varying (LPV) systems based on parameter-varying balanced realizations is proposed. In general, this requires the solution of a large set of linear matrix inequalities, leading to numerical issues and high computational cost. It has been recognized recently that semidefinite optimization problems (SDP) can be cast into second order cone programs (SOCP) by replacing the positive definiteness constraints with stronger, scaled diagonal dominance conditions. Since the scalability of SOCP solvers is much better than that of the SDPs, the new formulation allows solving large scale model reduction problems more efficiently. A numerical example is provided to demonstrate the efficiency of the approach.

关键词： Reduced order systems Symmetric matrices Mathematical model Linear systems Linear matrix inequalities controllability Observability

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control of rivers with flood avoidance

Control of rivers with flood avoidance

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Australian control Conference (AUCC)

作者： Hasan Arshad Nasir Algo Carè Erik Weyer Department of Electrical and Electronic Engineering The University of Melbourne Victoria Australia Hungarian Academy of Sciences (MTA) Institute for Computer Science and Control (SZTAKI) Budapest Hungary

ISBN: (纸本)9781509057641

River control and decision support system can help improving water resource management. Rivers often have two modes of operations: normal operations, which include maintaining water levels and flows at their reference points, and flood avoidance. This work formulates the river control problem as a Stochastic Model Predictive control (S-MPC), where a Multiple Chance-Constrained optimisation Problem (M-CCP) is solved at every time step. The M-CCP accommodates the constraints related to normal river operations and flood avoidance as two probabilistic constraints. We use the soft probabilistic constraints, because a hard constraint on the water level that depends on uncertain forecasts of the unregulated flows can cause infeasibility of the optimisation problems. We employ the Optimisation and Testing algorithm, proposed in [1], to solve the M-CCP and present simulation results of the control of the upper part of Murray River in Australia.

关键词： Rivers Reactive power Loss measurement Water resources Australia Optimization Linear programming

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Subexponential Parameterized Algorithms for Planar and Apex-Minor-Free Graphs via Low Treewidth Pattern Covering

Subexponential Parameterized Algorithms for Planar and Apex-...

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Annual IEEE Symposium on Foundations of computer science

作者： Fedor V. Fomin Daniel Lokshtanov Dániel Marx Marcin Pilipczuk Michał Pilipczuk Saket Saurabh Department of Informatics University of Bergen Norway Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI) Hungary Institute of Informatics University of Warsaw Poland Institute of Mathematical Sciences India

ISBN: (纸本)9781509039340

We prove the following theorem. Given a planar graph G and an integer k, it is possible in polynomial time to randomly sample a subset A of vertices of G with the following properties: 1) A induces a subgraph of G of treewidth O(√(k log k)), and 2) for every connected subgraph H of G on at most k vertices, the probability that A covers the whole vertex set of H is at least (2 O(√k log2 k) · n O(1))-1 , where n is the number of vertices of G. Together with standard dynamic programming techniques for graphs of bounded treewidth, this result gives a versatile technique for obtaining (randomized) subexponential parameterized algorithms for problems on planar graphs, usually with running time bound 2 O (√(k log 2 k))n O(1) . The technique can be applied to problems expressible as searching for a small, connected pattern with a prescribed property in a large host graph, examples of such problems include DIRECTED k-Path, WEIGHTED k-Path, VERTEX COVER LOCAL SEARCH, and SUBGRAPH ISOMORPHISM, among others. Up to this point, it was open whether these problems can be solved in subexponential parameterized time on planar graphs, because they are not amenable to the classic technique of bidimensionality. Furthermore, all our results hold in fact on any class of graphs that exclude a fixed apex graph as a minor, in particular on graphs embeddable in any fixed surface.

关键词： Heuristic algorithms Algorithm design and analysis Dynamic programming Electronic mail Particle separators Standards Approximation algorithms

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Fully automatic image colorization based on Convolutional Neural Network

Fully automatic image colorization based on Convolutional Ne...

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International Conference on Pattern Recognition

作者： Domonkos Varga Tamás Szirányi MTA SZTAKI Institute for Computer Science and Control Department of Networked Systems and Services Budapest University of Technology Department of Material Handling and Logistics Systems Budapest University of Technology

ISBN: (纸本)9781509048489

This paper deals with automatic image colorization. This is a very difficult task, since it is an ill-posed problem that usually requires user intervention to achieve high quality. A fully automatic approach is proposed that is able to produce realistic colorization of an input grayscale image. Motivated by the recent success of deep learning techniques in image processing, we propose a feed-forward, two-stage architecture based on Convolutional Neural Network that predicts the U and V color channels. Unlike most of the previous works, this paper presents a fully automatic colorization which is able to produce high-quality and realistic colorization even of complex scenes. Comprehensive experiments and qualitative and quantitative evaluations were conducted on the images of SUN database and on other images. We have found that Quaternion Structural Similarity (QSSIM) gives in some degree a good base for quantitative evaluation, that is why we chose QSSIM as an index-number for the quality of colorization.

关键词： Image color analysis Semantics Feature extraction Gray-scale Neural networks Databases Prediction algorithms

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Indirect measurement and diagnostics of the tool wear for ceramics micro-milling optimisation

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Journal of Physics: Conference Series 2018年第10期1065卷

作者： L Móricz Dr. Zs J Viharos Dr. A Németh A Szépligeti University of Pannonia Faculty of Engineering Mechatronic Education and Research Institute H-8900 Gasparich Márk str. 18/A. Zalaegerszeg Hungary Institute for Computer Science and Control of the Hungarian Academy of Sciences (MTA SZTAKI) H-1111 Kende str. 13-17. Budapest Hungary John von Neumann University H-6000 Izsáki str. 10 Kecskemét Hungary AQ Anton Ltd. H-8900 Sport str. 16. Zalaegerszeg Hungary

Based on their favourable mechanical features, applications of ceramics are continuously spreading in industrial environment. Such a good feature is their resistance against heat shock, so, currently they are applied e.g. as coating material for gas turbines. The paper proposes an indirect method for supervision of the cutting tool wear in the optimisation of a micro-milling process of ceramics. It replaces the expensive and time consuming measurement of the cutting tool wear in which the experiment have to be stopped, the tool has to be taken from the machine and it has to be measured e.g. by microscope. The replaced measurement has also the disadvantage that the tool has to be positioned (again) when putting it back to the machine bringing also inaccuracies to the machining. Experiments show that the proposed novel technique allows monitoring the tool wearing process characteristics without measuring the tool directly, even if the applied indirect measurement (on the workpiece) incorporates some inaccuracies. The introduced methodology supported the ceramics milling technology optimisation according to tool live and machining process time, simultaneously.

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Fast horizon detection for airborne visual systems

Fast horizon detection for airborne visual systems

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International Conference on Unmanned Aircraft Systems

作者： Antal Hiba Tamas Zsedrovits Peter Bauer Akos Zarandv Institute for Computer Science and Control of the Hungarian Academy of Sciences (MTA SZTAKI) Budapest Hungary

ISBN: (纸本)9781467393355

In this paper a fast horizon detection algorithm is introduced, which is run on an airborne visual system. It is important to run the horizon detection as fast as possible, and also with low power consumption. Hence we developed an algorithm, which has low complexity. The horizon detection uses attitude information provided by the flight control computer of the aircraft and it corrects the horizon based on the visual information from our airborne camera system. All calculations are run onboard, and the detected horizon is used in the sense-and-avoid task for sky-ground separation. The performance of the algorithm is measured in flight tests, which shows that it has superior performance compared to the horizon calculated from the attitude provided by the autopilot and also compared to the horizon calculated from the Euler angles given by our Kalman filter based attitude estimator. The measurements were run on videos from two cameras next to other sensors' information, which were recorded in November 2015. The videos were annotated by hand, which were used as a ground truth.

关键词： UAV UAS Horizon Visual Camera FPGA GPU Sense-and-Avoid

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Reliability assessment of actuator architectures for unmanned aircraft 9

Reliability assessment of actuator architectures for unmanne...

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Venkataraman, Raghu Lukátsi, Márk Vanek, Bálint Seiler, Peter Institute for Computer Science and Control Hungarian Academy of Sciences MTA SZTAKI Hungary Department of Aerospace Engineering and Mechanics University of Minnesota UMN AEM United States

A reliability assessment framework is presented for small unmanned aerial vehicles. The analysis considers several candidate architectures with different numbers of controllable surfaces and servos. It is assumed that a servo fault detection algorithm is available and affected by known rates of false alarms and missed detections. The aircraft flight envelope is analyzed to determine the fault levels for which the aircraft can still be flown at a trim point. For these "flyable" fault levels, it is assumed that the flight control law can be reconfigured to safely land the aircraft. Finally, the probability of catastrophic failure is estimated based on the histogram of (pre-fault) control command distributions, mean time between failure of the individual servos, and missed detection and false alarm rates. In applying the framework to assess the reliability of the candidate architectures, several interesting observations on design trade-offs are made. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Errors

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An exact characterization of tractable demand patterns for maximum disjoint path problems 15

An exact characterization of tractable demand patterns for m...

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Annual ACM-Society for Industrial and Applied Mathmatics Symposium on Discrete Algorithms

作者： Daniel Marx Paul Wollan Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI) Department of Computer Science University of Rome

ISBN: (纸本)9781510813311

We study the following general disjoint paths problem: given a supply graph G, a set T is contained in V (G) of terminals, a demand graph H on the vertices T, and an integer k, the task is to find a set of k pairwise vertex-disjoint valid paths, where we say that a path of the supply graph G is valid if its endpoints are in T and adjacent in the demand graph H. For a class H of graphs, we denote by Maximum Disjoint H-Paths the restriction of this problem when the demand graph H is assumed to be a member of H. We study the fixed-parameter tractability of this family of problems, parameterized by k. Our main result is a complete characterization of the fixed-parameter tractable cases of Maximum Disjoint H-Paths for every hereditary class H of graphs: it turns out that complexity depends on the existence of large induced matchings and large induced skew bicliques in the demand graph H (a skew biclique is a bipartite graph on vertices a_1,..., a_n, b_1,..., b_n with a_i and b_j being adjacent if and only if i ≤ j). Specifically, we prove the following classification for every hereditary class H. 1. If H does not contain every matching and does not contain every skew biclique, then Maximum Disjoint H-Paths is FPT. 2. If H does not contain every matching, but contains every skew biclique, then Maximum Disjoint H-Paths is W[1]-hard, admits an FPT approximation, and the valid paths satisfy an analog of the Erdos-Posa property. 3. If H contains every matching, then Maximum Disjoint H-Paths is W[1]-hard and the valid paths do not satisfy the analog of the Erd}os-Posa property.

关键词： Hydrogen mutual exclusion Line graph Skew Bipartite graph Valid

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