Finding Your Way Back: Comparing Path Odometry Algorithms for Assisted Return.

We present a comparative analysis of inertial-based odometry algorithms for the purpose of assisted return. An assisted return system facilitates backtracking of a path previously taken, and can be particularly useful for blind pedestrians. We present a new algorithm for path matching, and test it in simulated assisted return tasks with data from WeAllWalk, the only existing data set with inertial data recorded from blind walkers. We consider two odometry systems, one based on deep learning (RoNIN), and the second based on robust turn detection and step counting. Our results show that the best path matching results are obtained using the turns/steps odometry system

Robust Assignments via Ear Decompositions and Randomized Rounding

Many real-life planning problems require making a priori decisions before all parameters of the problem have been revealed. An important special case of such problem arises in scheduling problems, where a set of tasks needs to be assigned to the available set of machines or personnel (resources), in a way that all tasks have assigned resources, and no two tasks share the same resource. In its nominal form, the resulting computational problem becomes the \emph{assignment problem} on general bipartite graphs. This paper deals with a robust variant of the assignment problem modeling situations where certain edges in the corresponding graph are \emph{vulnerable} and may become unavailable after a solution has been chosen. The goal is to choose a minimum-cost collection of edges such that if any vulnerable edge becomes unavailable, the remaining part of the solution contains an assignment of all tasks. We present approximation results and hardness proofs for this type of problems, and establish several connections to well-known concepts from matching theory, robust optimization and LP-based techniques.Comment: Full version of ICALP 2016 pape

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Word matching using single closed contours for indexing handwritten historical documents

Effective indexing is crucial for providing convenient access to scanned versions of large collections of historically valuable handwritten manuscripts. Since traditional handwriting recognizers based on optical character recognition (OCR) do not perform well on historical documents, recently a holistic word recognition approach has gained in popularity as an attractive and more straightforward solution (Lavrenko et al. in proc. document Image Analysis for Libraries (DIAL’04), pp. 278–287, 2004). Such techniques attempt to recognize words based on scalar and profile-based features extracted from whole word images. In this paper, we propose a new approach to holistic word recognition for historical handwritten manuscripts based on matching word contours instead of whole images or word profiles. The new method consists of robust extraction of closed word contours and the application of an elastic contour matching technique proposed originally for general shapes (Adamek and O’Connor in IEEE Trans Circuits Syst Video Technol 5:2004). We demonstrate that multiscale contour-based descriptors can effectively capture intrinsic word features avoiding any segmentation of words into smaller subunits. Our experiments show a recognition accuracy of 83%, which considerably exceeds the performance of other systems reported in the literature

Multi-aspect, robust, and memory exclusive guest os fingerprinting

Precise fingerprinting of an operating system (OS) is critical to many security and forensics applications in the cloud, such as virtual machine (VM) introspection, penetration testing, guest OS administration, kernel dump analysis, and memory forensics. The existing OS fingerprinting techniques primarily inspect network packets or CPU states, and they all fall short in precision and usability. As the physical memory of a VM always exists in all these applications, in this article, we present OS-Sommelier+, a multi-aspect, memory exclusive approach for precise and robust guest OS fingerprinting in the cloud. It works as follows: given a physical memory dump of a guest OS, OS-Sommelier+ first uses a code hash based approach from kernel code aspect to determine the guest OS version. If code hash approach fails, OS-Sommelier+ then uses a kernel data signature based approach from kernel data aspect to determine the version. We have implemented a prototype system, and tested it with a number of Linux kernels. Our evaluation results show that the code hash approach is faster but can only fingerprint the known kernels, and data signature approach complements the code signature approach and can fingerprint even unknown kernels

Twofold Video Hashing with Automatic Synchronization

Video hashing finds a wide array of applications in content authentication, robust retrieval and anti-piracy search. While much of the existing research has focused on extracting robust and secure content descriptors, a significant open challenge still remains: Most existing video hashing methods are fallible to temporal desynchronization. That is, when the query video results by deleting or inserting some frames from the reference video, most existing methods assume the positions of the deleted (or inserted) frames are either perfectly known or reliably estimated. This assumption may be okay under typical transcoding and frame-rate changes but is highly inappropriate in adversarial scenarios such as anti-piracy video search. For example, an illegal uploader will try to bypass the 'piracy check' mechanism of YouTube/Dailymotion etc by performing a cleverly designed non-uniform resampling of the video. We present a new solution based on dynamic time warping (DTW), which can implement automatic synchronization and can be used together with existing video hashing methods. The second contribution of this paper is to propose a new robust feature extraction method called flow hashing (FH), based on frame averaging and optical flow descriptors. Finally, a fusion mechanism called distance boosting is proposed to combine the information extracted by DTW and FH. Experiments on real video collections show that such a hash extraction and comparison enables unprecedented robustness under both spatial and temporal attacks.Comment: submitted to Image Processing (ICIP), 2014 21st IEEE International Conference o