Layered Interpretation of Street View Images

We propose a layered street view model to encode both depth and semantic information on street view images for autonomous driving. Recently, stixels, stix-mantics, and tiered scene labeling methods have been proposed to model street view images. We propose a 4-layer street view model, a compact representation over the recently proposed stix-mantics model. Our layers encode semantic classes like ground, pedestrians, vehicles, buildings, and sky in addition to the depths. The only input to our algorithm is a pair of stereo images. We use a deep neural network to extract the appearance features for semantic classes. We use a simple and an efficient inference algorithm to jointly estimate both semantic classes and layered depth values. Our method outperforms other competing approaches in Daimler urban scene segmentation dataset. Our algorithm is massively parallelizable, allowing a GPU implementation with a processing speed about 9 fps.Comment: The paper will be presented in the 2015 Robotics: Science and Systems Conference (RSS

Resolution of ranking hierarchies in directed networks

Identifying hierarchies and rankings of nodes in directed graphs is fundamental in many applications such as social network analysis, biology, economics, and finance. A recently proposed method identifies the hierarchy by finding the ordered partition of nodes which minimises a score function, termed agony. This function penalises the links violating the hierarchy in a way depending on the strength of the violation. To investigate the resolution of ranking hierarchies we introduce an ensemble of random graphs, the Ranked Stochastic Block Model. We find that agony may fail to identify hierarchies when the structure is not strong enough and the size of the classes is small with respect to the whole network. We analytically characterise the resolution threshold and we show that an iterated version of agony can partly overcome this resolution limit.Comment: 27 pages, 9 figure

Analyzing Energy-efficiency and Route-selection of Multi-level Hierarchal Routing Protocols in WSNs

The advent and development in the field of Wireless Sensor Networks (WSNs) in recent years has seen the growth of extremely small and low-cost sensors that possess sensing, signal processing and wireless communication capabilities. These sensors can be expended at a much lower cost and are capable of detecting conditions such as temperature, sound, security or any other system. A good protocol design should be able to scale well both in energy heterogeneous and homogeneous environment, meet the demands of different application scenarios and guarantee reliability. On this basis, we have compared six different protocols of different scenarios which are presenting their own schemes of energy minimizing, clustering and route selection in order to have more effective communication. This research is motivated to have an insight that which of the under consideration protocols suit well in which application and can be a guide-line for the design of a more robust and efficient protocol. MATLAB simulations are performed to analyze and compare the performance of LEACH, multi-level hierarchal LEACH and multihop LEACH.Comment: NGWMN with 7th IEEE Inter- national Conference on Broadband and Wireless Computing, Communication and Applications (BWCCA 2012), Victoria, Canada, 201

Hierarchical mutual information for the comparison of hierarchical community structures in complex networks

The quest for a quantitative characterization of community and modular structure of complex networks produced a variety of methods and algorithms to classify different networks. However, it is not clear if such methods provide consistent, robust and meaningful results when considering hierarchies as a whole. Part of the problem is the lack of a similarity measure for the comparison of hierarchical community structures. In this work we give a contribution by introducing the {\it hierarchical mutual information}, which is a generalization of the traditional mutual information, and allows to compare hierarchical partitions and hierarchical community structures. The {\it normalized} version of the hierarchical mutual information should behave analogously to the traditional normalized mutual information. Here, the correct behavior of the hierarchical mutual information is corroborated on an extensive battery of numerical experiments. The experiments are performed on artificial hierarchies, and on the hierarchical community structure of artificial and empirical networks. Furthermore, the experiments illustrate some of the practical applications of the hierarchical mutual information. Namely, the comparison of different community detection methods, and the study of the consistency, robustness and temporal evolution of the hierarchical modular structure of networks.Comment: 14 pages and 12 figure

Recent Advances in Graph Partitioning

We survey recent trends in practical algorithms for balanced graph partitioning together with applications and future research directions