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International Conference on computer Vision Workshops (ICCV Workshops)

作者： Andrea Manno-Kovacs Levente Kovács Hungarian Academy of Sciences (MTA SZTAKI) Institute for Computer Science and Control Budapest Hungary

We present a monocular obstacle avoidance method based on a novel image feature map built by fusing robust saliency features, to be used in embedded systems on lightweight autonomous vehicles. The fused salient features are a textural-directional Harris based feature map and a relative focus feature map. We present the generation of the fused salient map, along with its application for obstacle avoidance. Evaluations are performed from a saliency point of view, and for the assessment of the method's applicability for obstacle avoidance in simulated environments. The presented results support the usability of the method in embedded systems on lightweight unmanned vehicles.

关键词： Feature extraction Collision avoidance Image edge detection Visualization Training Navigation Sensors

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Undermodelling Detection with Sign-Perturbed Sums

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IFAC-PapersOnLine 2017年第1期50卷 2744-2749页

作者： Carè A. Campi M.C. Csáji B.C. Weyer E. Centrum Wiskunde & Informatica (CWI) Science Park 123 Amsterdam Netherlands Institute for Computer Science and Control (SZTAKI) Hungarian Academy of Sciences (MTA) Kende utca 13-17 Budapest H-1111 Hungary Department of Information Engineering University of Brescia Via Branze 38 Brescia 25123 Italy Department of Electrical and Electronic Engineering Melbourne School of Engineering The University of Melbourne Parkville Melbourne Victoria 3010 Australia

Sign-Perturbed Sums (SPS) is a finite sample system identification method that can build exact confidence regions for the unknown parameters of linear systems under mild statistical assumptions. Theoretical studies of the SPS method have assumed so far that the order of the system model is known to the user. In this paper we discuss the implications of this assumption for the applicability of the SPS method, and we propose an extension that, under mild assumptions, i) still delivers guaranteed confidence regions when the model order is correct, and ii) it is guaranteed to detect, in the long run, if the model order is wrong. © 2017

关键词： confidence regions distribution-free results finite sample results least squares parameter estimation system identification

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Bird's Eye View on Systems and control - General View and Case Studies

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IFAC-PapersOnLine 2016年第6期49卷 274-279页

作者： Vámos, T. Bars, R. Sik, D. Institute of Computer Science and Control Hungarian Academy of Sciences MTA-SZTAKI Budapest Hungary Dept. of Automation and Applied Informatics Budapest University of Technology and Economics MTA-BME Control Engineering Research Group Budapest Hungary

Systems and control are all around us. System view, understanding systems and how they are controlled is important for everyone. The behavior of systems is determined by some fundamental principles which can be understood by everyone. The main principles governing systems and control are presented on different levels. The first level is dedicated for everyone. Comics-like interpretation is provided with explanations. The second level discusses the main topics dedicated for the interested students. Several case studies demonstrate how system view is considered in different areas of life. With this approach systems in different areas of life could be better understood contributing to better decisions influencing their performance. The third level provides deeper insight into some aspects of modern mathematical system theory, to geometric view of control systems. The material is available on a website on the internet. © 2016

关键词： control theory Algorithms Case studies control disciplines control education control structure Systems and control

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Person Re-identification based on Deep Multi-instance Learning

Person Re-identification based on Deep Multi-instance Learni...

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European Signal Processing Conference

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

Person re-identification is one of the widely studied research topic in the fields of computer vision and pattern recognition. In this paper, we present a deep multi-instance learning approach for person re-identification. Since most publicly available databases for pedestrian re-identification are not enough big, over-fitting problems occur in deep learning architectures. To tackle this problem, person re-identification is expressed as a deep multi-instance learning issue. Therefore, a multi-scale feature learning process is introduced which is driven by optimizing a novel cost function. We report on experiments and comparisons to other state-of-the-art algorithms using publicly available databases such as VIPeR and ETHZ.

关键词： Feature extraction Training Measurement computer architecture Cameras Probes Machine learning

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CEML: Mixing and moving complex event processing and machine learning to the edge of the network for IoT applications 16

CEML: Mixing and moving complex event processing and machine...

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6th International Conference on the Internet of Things, IOT 2016

作者： Soto, José Ángel Carvajal Jentsch, Marc Preuveneers, Davy Ilie-Zudor, Elisabeth Fraunhofer FIT Sankt Augustin Germany IMinds-DistriNet KU Leuven Leuven Belgium Institute for Computer Science and Control MTA SZTAKI Budapest Hungary

ISBN: (纸本)9781450348140

The Internet of Things (IoT) is a growing field which is expected to generate and collect data everywhere at any time. Highly scalable cloud analytics systems are frequently being used to handle this data explosion. However, the ubiquitous nature of the IoT data imposes new technical and non-Technical requirements which are difficult to address with a cloud deployment. To solve these problems, we need a new set of development technologies such as Distributed Data Mining and Ubiquitous Data Mining targeted and optimized towards IoT applications. In this paper, we present the Complex Event Machine Learning framework which proposes a set of tools for automatic distributed machine learning in (near-) real-Time, automatic continuous evaluation tools, and automatic rules management for deployment of rules. These features are implemented for a deployment at the edge of the network instead of the cloud. We evaluate and validate our approach with a well-known classification problem. © 2016 ACM.

关键词： Edge computing

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CONTENT BASED IMAGE RETRIEVAL USING SALIENT ORIENTATION HISTOGRAMS

CONTENT BASED IMAGE RETRIEVAL USING SALIENT ORIENTATION HIST...

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IEEE International Conference on Image Processing

作者： Andrea Manno-Kovacs Institute for Computer Science and Control MTA SZTAKI Budapest Hungary

ISBN: (纸本)9781467399623

Content-aware image retrieval is a very important topic nowadays, when the amount of digital image data is highly increasing. Existing sketch based image retrieval (SBIR) systems perform at a reduced level on real life images, where background data may distort image descriptors and retrieval results. To avoid this, a preprocessing step is introduced in this paper to distinguish between foreground and background, using integrated saliency detection. To build the descriptor only on the most relevant pixels, orientation feature is extracted at salient Modified Harris for Edges and Corners (MHEC) keypoints using an improved edge map, resulting in a Salient Orientation Histogram (SOH). The proposed SBIR system is also augmented with a segmentation step for object detection. The method is tested on the THUR15000 database, containing random internet images. Image retrieval and object detection both give promising results compared to other state-of-the-art methods.

关键词： Image edge detection Histograms Image segmentation Image retrieval Feature extraction Object detection image retrieval Object detection histograms Edge detection image segmentation Feature extraction edge image content-based image retrieval digital image data

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Tight conditional lower bounds for counting perfect matchings on graphs of bounded treewidth, cliquewidth, and genus 16

Tight conditional lower bounds for counting perfect matching...

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

作者： Radu Curticapean Daniel Marx Simons Institute for the Theory of Computing Berkeley and Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI) Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI)

ISBN: (纸本)9781510819672

By now, we have a good understanding of how NP-hard problems become easier on graphs of bounded treewidth and bounded cliquewidth: for various problems, matching upper bounds and conditional lower bounds describe exactly how the running time has to depend on treewidth or cliquewidth. In particular, Fomin et al. (2009, 2010) have shown a significant difference between these two parameters: assuming the Exponential-Time Hypothesis (ETH), the optimal algorithms for problems such as MAX CUT and EDGE DOMINATING SET have running time 2~(O(t))n~(O(1)) when parameterized by treewidth, but nO(t) when parameterized by cliquewidth. In this paper, we show that a similar phenomenon occurs also for counting problems. Specifically, we prove that, assuming the counting version of the Strong Exponential-Time Hypothesis (#SETH), the problem of counting perfect matchings (1) has no (2 -ε)~kn~(O(1)) time algorithm for any ε > 0 on graphs of treewidth k (but it is known to be solvable in time 2~kn~(O(1)) if a tree decomposition of width k is given), and (2) has no O(n~((1 - ε)k)) time algorithm for any ε > 0 on graphs of cliquewidth k (but it can be solved in time O(n~(k+1)) if a k-expression is given). A celebrated result of Fisher, Kasteleyn, and Temperley from the 1960s shows that counting perfect matchings in planar graphs is polynomial-time solvable. This was later extended by Gallucio and Loebl (1999), Tesler (2000) and Regge and Zechina (2000) who gave 4~k ·n~(O(1)) time algorithms for graphs of genus k. We show that the dependence on the genus k has to be exponential: assuming #ETH, the counting version of ETH, there is no 2~(o(k)) · n~(O(1)) time algorithm for the problem on graphs of genus k.

关键词： Runtime Perfect Soluble Bounded genera Lower bound Nondeterministic polynomial-time hard

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Generalized feedback vertex set problems on bounded-treewidth graphs: Chordality is the key to single-exponential parameterized algorithms

arXiv

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arXiv 2017年

作者： Bonnet, Édouard Brettell, Nick Kwon, O-Joung Marx, Dániel Univ. Lyon CNRS ENS de Lyon Université Claude Bernard Lyon 1 LIP UMR5668 France Department of Mathematics and Computer Science Eindhoven University of Technology Netherlands Department of Mathematics Incheon National University Incheon Korea Republic of Institute for Computer Science and Control Hungarian Academy of Sciences MTA SZTAKI

It has long been known that Feedback Vertex Set can be solved in time 2Opw log wqnOp1q on n-vertex graphs of treewidth w, but it was only recently that this running time was improved to 2OpwqnOp1q, that is, to single-exponential parameterized by treewidth. We investigate which generalizations of Feedback Vertex Set can be solved in a similar running time. Formally, for a class P of graphs, the Bounded P-Block Vertex Deletion problem asks, given a graph G on n vertices and positive integers k and d, whether G contains a set S of at most k vertices such that each block of G ´ S has at most d vertices and is in P. Assuming that P is recognizable in polynomial time and satisfies a certain natural hereditary condition, we give a sharp characterization of when single-exponential parameterized algorithms are possible for fixed values of d: • if P consists only of chordal graphs, then the problem can be solved in time 2Opwd2qnOp1q, • if P contains a graph with an induced cycle of length ě 4, then the problem is not solvable in time 2opw log wqnOp1q even for fixed d ", unless the ETH fails. We also study a similar problem, called Bounded P-Component Vertex Deletion, where the target graphs have connected components of small size rather than blocks of small size, and we present analogous results. For this problem, we also show that if d is part of the input and P contains all chordal graphs, then it cannot be solved in time fpwqnopwq for some function f, unless the ETH fails. Copyright © 2017, The Authors. All rights reserved.

关键词： Graphic methods

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Monocular Image-based Time to Collision and Closest Point of Approach Estimation

Monocular Image-based Time to Collision and Closest Point of...

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Mediterranean Conference on control and Automation

作者： Peter Bauer Antal Hiba Balint Vanek Akos Zarandy Jozsef Bokor Institute for Computer Science and Control Hungarian Academy of Sciences (MTA SZTAKI)

ISBN: (纸本)9781467383479

This paper deals with monocular image-based time-to-collision (TTC) and closest point of approach (CPA) estimation for aircraft sense and avoid. First, it proposes a disc-based pinhole camera projection model which can better represent a real 3D object Then it proposes simple least squares optimal line fitting-based techniques for TTC and CPA estimation based-on measurable image parameters only. Possible errors in the image are considered through design nomograms and a collision decision threshold selection technique is presented. Theoretical results are verified through software-in-the-loop simulation and real flight test results. To the best of the author's knowledge the disc-based projection model and the line fit-based TTC and CPA estimation are new contributions in this field.

关键词： Sense and avoid Monocular camera Time to collision Closest point of approach

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Constant-factor approximations for asymmetric TSP on nearly-embeddable graphs 19

Constant-factor approximations for asymmetric TSP on nearly-...

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19th International Workshop on Approximation Algorithms for Combinatorial Optimization Problems, APPROX 2016 and the 20th International Workshop on Randomization and Computation, RANDOM 2016

作者： Marx, Dániel Salmasi, Ario Sidiropoulos, Anastasios Institute of Computer Science and Control Hungarian Academy of Sciences MTA SZTAKI Budapest Hungary Dept. of Computer Science and Engineering Ohio State University ColumbusOH United States Dept. of Computer Science and Engineering Dept. of Mathematics Ohio State University ColumbusOH United States

ISBN: (纸本)9783959770187

In the Asymmetric Traveling Salesperson Problem (ATSP) the goal is to find a closed walk of minimum cost in a directed graph visiting every vertex. We consider the approximability of ATSP on topologically restricted graphs. It has been shown by Oveis Gharan and Saberi [13] that there exists polynomial-Time constant-factor approximations on planar graphs and more generally graphs of constant orientable genus. This result was extended to non-orientable genus by Erickson and Sidiropoulos [8]. We show that for any class of nearly-embeddable graphs, ATSP admits a polynomial-Time constant-factor approximation. More precisely, we show that for any fixed k κ 0, there exist α β > 0, such that ATSP on n-vertex k-nearly-embeddable graphs admits an-Approximation in time O(n). The class of k-nearly-embeddable graphs contains graphs with at most κ apices, κ vortices of width at most k, and an underlying surface of either orientable or non-orientable genus at most κ. Prior to our work, even the case of graphs with a single apex was open. Our algorithm combines tools from rounding the Held-Karp LP via thin trees with dynamic programming. We complement our upper bounds by showing that solving ATSP exactly on graphs of pathwidth κ (and hence on κ-nearly embeddable graphs) requires time nω(κ), assuming the Exponential-Time Hypothesis (ETH). This is surprising in light of the fact that both TSP on undirected graphs and Minimum Cost Hamiltonian Cycle on directed graphs are FPT parameterized by treewidth.

关键词： Approximation algorithms

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