SearcharxivSearch

arXiv subjects

Ilya Afanasyev

Publications and source records attributed to Ilya Afanasyev.

16 recordsLinked to original sources

Agent-Based Modular Learning for Multimodal Emotion Recognition in Human-Agent Systems

Effective human-agent interaction (HAI) relies on accurate and adaptive perception of human emotional states. While multimodal deep learning models - leveraging facial expressions, speech, and textual cues - offer high accuracy in emotion recognition, their training and maintenance are often computationally intensive and inflexible to modality changes. In this work, we propose a novel multi-agent framework for training multimodal emotion recognition systems, where each modality encoder and the fusion classifier operate as autonomous agents coordinated by a central supervisor. This architecture enables modular integration of new modalities (e.g., audio features via emotion2vec), seamless replacement of outdated components, and reduced computational overhead during training. We demonstrate the feasibility of our approach through a proof-of-concept implementation supporting vision, audio, and text modalities, with the classifier serving as a shared decision-making agent. Our framework not only improves training efficiency but also contributes to the design of more flexible, scalable, and maintainable perception modules for embodied and virtual agents in HAI scenarios.

cs.LG

Efficient Document Image Dewarping via Hybrid Deep Learning and Cubic Polynomial Geometry Restoration

Camera-captured document images often suffer from geometric distortions caused by paper deformation, perspective distortion, and lens aberrations, significantly reducing OCR accuracy. This study develops an efficient automated method for document image dewarping that balances accuracy with computational efficiency. We propose a hybrid approach combining deep learning for document detection with classical computer vision for geometry restoration. YOLOv8 performs initial document segmentation and mask generation. Subsequently, classical CV techniques construct a topological 2D grid through cubic polynomial interpolation of document boundaries, followed by image remapping to correct nonlinear distortions. A new annotated dataset and open-source framework are provided to facilitate reproducibility and further research. Experimental evaluation against state-of-the-art methods (RectiNet, DocGeoNet, DocTr++) and mobile applications (DocScan, CamScanner, TapScanner) demonstrates superior performance. Our method achieves the lowest median Character Error Rate (CER=0.0235), Levenshtein Distance (LD=27.8), and highest Jaro--Winkler similarity (JW=0.902), approaching the quality of scanned originals. The approach requires significantly fewer computational resources and memory compared to pure deep learning solutions while delivering better OCR readability and geometry restoration quality. The proposed hybrid methodology effectively restores document geometry with computational efficiency superior to existing deep learning approaches, making it suitable for resource-constrained applications while maintaining high-quality document digitization. Project page: https://github.com/HorizonParadox/DRCCBI

cs.CV

Abstract String Domain Defined with Word Equations as a Reduced Product (Extended Version)

We introduce a string-interval abstract domain, where string intervals are characterized by systems of word equations (encoding lower bounds on string values) and word disequalities (encoding upper bounds). Building upon the lattice structure of string intervals, we define an abstract string object as a reduced product on a string property semilattice, determined by length-non-increasing morphisms. We consider several reduction strategies for abstract string objects and show that upon these strategies the string object domain forms a lattice. We define basic abstract string operations on the domain, aiming to minimize computational overheads on the reduction, and show how the domain can be used to analyse properties of JavaScript string manipulating programs.

cs.PL

Comparison of Various SLAM Systems for Mobile Robot in an Indoor Environment

This article presents a comparative analysis of a mobile robot trajectories computed by various ROS-based SLAM systems. For this reason we developed a prototype of a mobile robot with common sensors: 2D lidar, a monocular and ZED stereo cameras. Then we conducted experiments in a typical office environment and collected data from all sensors, running all tested SLAM systems based on the acquired dataset. We studied the following SLAM systems: (a) 2D lidar-based: GMapping, Hector SLAM, Cartographer; (b) monocular camera-based: Large Scale Direct monocular SLAM (LSD SLAM), ORB SLAM, Direct Sparse Odometry (DSO); and (c) stereo camera-based: ZEDfu, Real-Time Appearance-Based Mapping (RTAB map), ORB SLAM, Stereo Parallel Tracking and Mapping (S-PTAM). Since all SLAM methods were tested on the same dataset we compared results for different SLAM systems with appropriate metrics, demonstrating encouraging results for lidar-based Cartographer SLAM, Monocular ORB SLAM and Stereo RTAB Map methods.

cs.RO

Depth and Image Fusion for Road Obstacle Detection Using Stereo Camera

This paper is devoted to the detection of objects on a road, performed with a combination of two methods based on both the use of depth information and video analysis of data from a stereo camera. Since neither the time of the appearance of an object on the road, nor its size and shape is known in advance, ML/DL-based approaches are not applicable. The task becomes more complicated due to variations in artificial illumination, inhomogeneous road surface texture, and unknown character and features of the object. To solve this problem we developed the depth and image fusion method that complements a search of small contrast objects by RGB-based method, and obstacle detection by stereo image-based approach with SLIC superpixel segmentation. We conducted experiments with static and low speed obstacles in an underground parking lot and demonstrated the successful work of the developed technique for detecting and even tracking small objects, which can be parking infrastructure objects, things left on the road, wheels, dropped boxes, etc.

cs.CV

Towards the Internet of Robotic Things: Analysis, Architecture, Components and Challenges

Internet of Things (IoT) and robotics cannot be considered two separate domains these days. Internet of Robotics Things (IoRT) is a concept that has been recently introduced to describe the integration of robotics technologies in IoT scenarios. As a consequence, these two research fields have started interacting, and thus linking research communities. In this paper we intend to make further steps in joining the two communities and broaden the discussion on the development of this interdisciplinary field. The paper provides an overview, analysis and challenges of possible solutions for the Internet of Robotic Things, discussing the issues of the IoRT architecture, the integration of smart spaces and robotic applications.

cs.RO

A Machine to Machine framework for the charging of Electric Autonomous Vehicles

Electric Autonomous Vehicles (EAVs) have gained increasing attention of industry, governments and scientific communities concerned about issues related to classic transportation including accidents and casualties, gas emissions and air pollution, intensive traffic and city viability. One of the aspects, however, that prevent a broader adoption of this technology is the need for human interference to charge EAVs, which is still mostly manual and time-consuming. This study approaches such a problem by introducing the Inno-EAV, an open-source charging framework for EAVs that employs machine-to-machine (M2M) distributed communication. The idea behind M2M is to have networked devices that can interact, exchange information and perform actions without any manual assistance of humans. The advantages of the Inno-EAV include the automation of charging processes and the collection of relevant data that can support better decision making in the spheres of energy distribution. In this paper, we present the software design of the framework, the development process, the emphasis on the distributed architecture and the networked communication, and we discuss the back-end database that is used to store information about car owners, cars, and charging stations.

cs.CY

Towards Blockchain-based Multi-Agent Robotic Systems: Analysis, Classification and Applications

Decentralization, immutability and transparency make of Blockchain one of the most innovative technology of recent years. This paper presents an overview of solutions based on Blockchain technology for multi-agent robotic systems, and provide an analysis and classification of this emerging field. The reasons for implementing Blockchain in a multi-robot network may be to increase the interaction efficiency between agents by providing more trusted information exchange, reaching a consensus in trustless conditions, assessing robot productivity or detecting performance problems, identifying intruders, allocating plans and tasks, deploying distributed solutions and joint missions. Blockchain-based applications are discussed to demonstrate how distributed ledger can be used to extend the number of research platforms and libraries for multi-agent robotic systems.

cs.RO

Blockchain Solutions for Multi-Agent Robotic Systems: Related Work and Open Questions

The possibilities of decentralization and immutability make blockchain probably one of the most breakthrough and promising technological innovations in recent years. This paper presents an overview, analysis, and classification of possible blockchain solutions for practical tasks facing multi-agent robotic systems. The paper discusses blockchain-based applications that demonstrate how distributed ledger can be used to extend the existing number of research platforms and libraries for multi-agent robotic systems.

cs.RO

Ground Profile Recovery from Aerial 3D LiDAR-based Maps

The paper presents the study and implementation of the ground detection methodology with filtration and removal of forest points from LiDAR-based 3D point cloud using the Cloth Simulation Filtering (CSF) algorithm. The methodology allows to recover a terrestrial relief and create a landscape map of a forestry region. As the proof-of-concept, we provided the outdoor flight experiment, launching a hexacopter under a mixed forestry region with sharp ground changes nearby Innopolis city (Russia), which demonstrated the encouraging results for both ground detection and methodology robustness.

cs.RO

A Reference Architecture for Smart and Software-defined Buildings

The vision encompassing Smart and Software-defined Buildings (SSDB) is becoming more and more popular and its implementation is now more accessible due to the widespread adoption of the IoT infrastructure. Some of the most important applications sustaining this vision are energy management, environmental comfort, safety and surveillance. This paper surveys IoT and SSB technologies and their cooperation towards the realization of Smart Spaces. We propose a four-layer reference architecture and we organize related concepts around it. This conceptual frame is useful to identify the current literature on the topic and to connect the dots into a coherent vision of the future of residential and commercial buildings.

cs.SE

An architecture for distributed ledger-based M2M auditing for Electric Autonomous Vehicles

Electric Autonomous Vehicles (EAVs) promise to be an effective way to solve transportation issues such as accidents, emissions and congestion, and aim at establishing the foundation of Machine-to-Machine (M2M) economy. For this to be possible, the market should be able to offer appropriate charging services without involving humans. The state-of-the-art mechanisms of charging and billing do not meet this requirement, and often impose service fees for value transactions that may also endanger users and their location privacy. This paper aims at filling this gap and envisions a new charging architecture and a billing framework for EAV which would enable M2M transactions via the use of Distributed Ledger Technology (DLT).

cs.CY

Deep Learning Approach for Building Detection in Satellite Multispectral Imagery

Building detection from satellite multispectral imagery data is being a fundamental but a challenging problem mainly because it requires correct recovery of building footprints from high-resolution images. In this work, we propose a deep learning approach for building detection by applying numerous enhancements throughout the process. Initial dataset is preprocessed by 2-sigma percentile normalization. Then data preparation includes ensemble modelling where 3 models were created while incorporating OpenStreetMap data. Binary Distance Transformation (BDT) is used for improving data labeling process and the U-Net (Convolutional Networks for Biomedical Image Segmentation) is modified by adding batch normalization wrappers. Afterwards, it is explained how each component of our approach is correlated with the final detection accuracy. Finally, we compare our results with winning solutions of SpaceNet 2 competition for real satellite multispectral images of Vegas, Paris, Shanghai and Khartoum, demonstrating the importance of our solution for achieving higher building detection accuracy.

cs.CV

Towards Human Pulse Rate Estimation from Face Video: Automatic Component Selection and Comparison of Blind Source Separation Methods

Human heartbeat can be measured using several different ways appropriately based on the patient condition which includes contact base such as measured by using instruments and non-contact base such as computer vision assisted techniques. Non-contact based approached are getting popular due to those techniques are capable of mitigating some of the limitations of contact-based techniques especially in clinical section. However, existing vision guided approaches are not able to prove high accurate result due to various reason such as the property of camera, illumination changes, skin tones in face image, etc. We propose a technique that uses video as an input and returns pulse rate in output. Initially, key point detection is carried out on two facial subregions: forehead and nose-mouth. After removing unstable features, the temporal filtering is applied to isolate frequencies of interest. Then four component analysis methods are employed in order to distinguish the cardiovascular pulse signal from extraneous noise caused by respiration, vestibular activity and other changes in facial expression. Afterwards, proposed peak detection technique is applied for each component which extracted from one of the four different component selection algorithms. This will enable to locate the positions of peaks in each component. Proposed automatic components selection technique is employed in order to select an optimal component which will be used to calculate the heartbeat. Finally, we conclude with a comparison of four component analysis methods (PCA, FastICA, JADE, SHIBBS), processing face video datasets of fifteen volunteers with verification by an ECG/EKG Workstation as a ground truth.

cs.CV

Towards blockchain-based robonomics: autonomous agents behavior validation

The decentralized trading market approach, where both autonomous agents and people can consume and produce services expanding own opportunities to reach goals, looks very promising as a part of the Fourth Industrial revolution. The key component of the approach is a blockchain platform that allows an interaction between agents via liability smart contracts. Reliability of a service provider is usually determined by a reputation model. However, this solution only warns future customers about an extent of trust to the service provider in case it could not execute any previous liabilities correctly. From the other hand a blockchain consensus protocol can additionally include a validation procedure that detects incorrect liability executions in order to suspend payment transactions to questionable service providers. The paper presents the validation methodology of a liability execution for agent-based service providers in a decentralized trading market, using the Model Checking method based on the mathematical model of finite state automata and Temporal Logic properties of interest. To demonstrate this concept, we implemented the methodology in the Duckietown application, moving an autonomous mobile robot to achieve a mission goal with the following behavior validation at the end of a completed scenario.

cs.SE

Model Checking in multiplayer games development

Multiplayer computer games play a big role in the ever-growing entertainment industry. Being competitive in this industry means releasing the best possible software, and reliability is a key feature to win the market. Computer games are also actively used to simulate different robotic systems where reliability is even more important, and potentially critical. Traditional software testing approaches can check a subset of all the possible program executions, and they can never guarantee complete absence of errors in the source code. On the other hand, during more than twenty years, Model Checking has demonstrated to be a powerful instrument for formal verification of large hardware and software components. In this paper, we contribute with a novel approach to formally verify computer games. We propose a method of model construction that starts from a computer game description and utilizes Model Checking technique. We apply the method on a case study: the game Penguin Clash. Finally, an approach to game model reduction (and its implementation) is introduced in order to address the state explosion problem.

cs.SE