Real-Time Salient Closed Boundary Tracking via Line Segments Perceptual Grouping

This paper presents a novel real-time method for tracking salient closed boundaries from video image sequences. This method operates on a set of straight line segments that are produced by line detection. The tracking scheme is coherently integrated into a perceptual grouping framework in which the visual tracking problem is tackled by identifying a subset of these line segments and connecting them sequentially to form a closed boundary with the largest saliency and a certain similarity to the previous one. Specifically, we define a new tracking criterion which combines a grouping cost and an area similarity constraint. The proposed criterion makes the resulting boundary tracking more robust to local minima. To achieve real-time tracking performance, we use Delaunay Triangulation to build a graph model with the detected line segments and then reduce the tracking problem to finding the optimal cycle in this graph. This is solved by our newly proposed closed boundary candidates searching algorithm called "Bidirectional Shortest Path (BDSP)". The efficiency and robustness of the proposed method are tested on real video sequences as well as during a robot arm pouring experiment.Comment: 7 pages, 8 figures, The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) submission ID 103

An Improved Algorithm for Finding the Shortest Synchronizing Words

A synchronizing word of a deterministic finite complete automaton is a word whose action maps every state to a single one. Finding a shortest or a short synchronizing word is a central computational problem in the theory of synchronizing automata and is applied in other areas such as model-based testing and the theory of codes. Because the problem of finding a shortest synchronizing word is computationally hard, among \emph{exact} algorithms only exponential ones are known. We redesign the previously fastest known exact algorithm based on the bidirectional breadth-first search and improve it with respect to time and space in a practical sense. We develop new algorithmic enhancements and adapt the algorithm to multithreaded and GPU computing. Our experiments show that the new algorithm is multiple times faster than the previously fastest one and its advantage quickly grows with the hardness of the problem instance. Given a modest time limit, we compute the lengths of the shortest synchronizing words for random binary automata up to 570 states, significantly beating the previous record. We refine the experimental estimation of the average reset threshold of these automata. Finally, we develop a general computational package devoted to the problem, where an efficient and practical implementation of our algorithm is included, together with several well-known heuristics.Comment: Full version of ESA 2022 pape

An Improved Algorithm for Finding the Shortest Synchronizing Words

A synchronizing word of a deterministic finite complete automaton is a word whose action maps every state to a single one. Finding a shortest or a short synchronizing word is a central computational problem in the theory of synchronizing automata and is applied in other areas such as model-based testing and the theory of codes. Because the problem of finding a shortest synchronizing word is computationally hard, among exact algorithms only exponential ones are known. We redesign the previously fastest known exact algorithm based on the bidirectional breadth-first search and improve it with respect to time and space in a practical sense. We develop new algorithmic enhancements and adapt the algorithm to multithreaded and GPU computing. Our experiments show that the new algorithm is multiple times faster than the previously fastest one and its advantage quickly grows with the hardness of the problem instance. Given a modest time limit, we compute the lengths of the shortest synchronizing words for random binary automata up to 570 states, significantly beating the previous record. We refine the experimental estimation of the average reset threshold of these automata. Finally, we develop a general computational package devoted to the problem, where an efficient and practical implementation of our algorithm is included, together with several well-known heuristics

Quickest Paths in Simulations of Pedestrians

This contribution proposes a method to make agents in a microscopic simulation of pedestrian traffic walk approximately along a path of estimated minimal remaining travel time to their destination. Usually models of pedestrian dynamics are (implicitly) built on the assumption that pedestrians walk along the shortest path. Model elements formulated to make pedestrians locally avoid collisions and intrusion into personal space do not produce motion on quickest paths. Therefore a special model element is needed, if one wants to model and simulate pedestrians for whom travel time matters most (e.g. travelers in a station hall who are late for a train). Here such a model element is proposed, discussed and used within the Social Force Model.Comment: revised version submitte