Physics-informed inference of aerial animal movements from weather radar data

Studying animal movements is essential for effective wildlife conservation and conflict mitigation. For aerial movements, operational weather radars have become an indispensable data source in this respect. However, partial measurements, incomplete spatial coverage, and poor understanding of animal behaviours make it difficult to reconstruct complete spatio-temporal movement patterns from available radar data. We tackle this inverse problem by learning a mapping from high-dimensional radar measurements to low-dimensional latent representations using a convolutional encoder. Under the assumption that the latent system dynamics are well approximated by a locally linear Gaussian transition model, we perform efficient posterior estimation using the classical Kalman smoother. A convolutional decoder maps the inferred latent system states back to the physical space in which the known radar observation model can be applied, enabling fully unsupervised training. To encourage physical consistency, we additionally introduce a physics-informed loss term that leverages known mass conservation constraints. Our experiments on synthetic radar data show promising results in terms of reconstruction quality and data-efficiency.Comment: NeurIPS 2022, AI4Science worksho

Bibliographic Review on Distributed Kalman Filtering

In recent years, a compelling need has arisen to understand the effects of distributed information structures on estimation and filtering. In this paper, a bibliographical review on distributed Kalman filtering (DKF) is provided.\ud The paper contains a classification of different approaches and methods involved to DKF. The applications of DKF are also discussed and explained separately. A comparison of different approaches is briefly carried out. Focuses on the contemporary research are also addressed with emphasis on the practical applications of the techniques. An exhaustive list of publications, linked directly or indirectly to DKF in the open literature, is compiled to provide an overall picture of different developing aspects of this area

3D Radar reflectivity assimilation with an ensemble Kalman filter on the convective scale

Atmospheric processes are governed by strongly nonlinear dynamics, and predicting convective events is a challenging task. In numerical weather prediction (NWP), an accurate description of the current state of the atmosphere is needed to initialize NWP forecasts. In order to derive these initial conditions, data assimilation plays an essential role. For convective-scale data assimilation, radar observations of precipitation represent an ideal database because of their unique ability to capture the spatial and temporal evolution of precipitation systems. A radar forward operator that simulates synthetic radar measurements based on the NWP model fields enables the comparison of observations and model states. Such a forward operator is integrated into a local ensemble transform Kalman filter (LETKF) for the assimilation of radar reflectivity data in areas with and without precipitation. Two experiments are examined. In the first experiment, the data assimilation update interval is varied (ranging from 5 to 60 minutes) and its influence on the quality of analysis and precipitation forecast is studied. While the analysis quality benefits from frequent updates, forecast quality is degraded. Additional information gained from updating frequently dissipates quickly, and the best forecast quality for lead times beyond one hour can be obtained with hourly updates. In the second experiment, radar reflectivities are assimilated for a period of seven consecutive days with significant precipitation over Germany. Precipitation forecasts initialized throughout this week are compared to those based on the current operational precipitation data assimilation scheme of Deutscher Wetterdienst (DWD), called latent heat nudging (LHN). The results show that the LETKF based assimilation of radar observations competes successfully with LHN, though LHN has been tested and tuned over several years, whereas the LETKF based system is still in an early development phase. Furthermore, the impact of the temporal and vertical resolution of the volume radar data is examined. The results suggest that reducing the vertical or temporal resolution of radar observations does not degrade forecast quality but leads to significant speed up of runtime. The results of this study are strongly encouraging and provide a promising step towards the operational use of radar reflectivities in an LETKF system in order to improve short-term forecasts of precipitation

Interferometric synthetic aperture sonar system supported by satellite

Tese de doutoramento. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 200

Spatio-temporal rainfall estimation and nowcasting for flash flood forecasting.

Thesis (Ph.D.Eng.)-University of KwaZulu-Natal, Durban, 2007.Floods cannot be prevented, but their devastating effects can be minimized if advance warning of the event is available. The South African Disaster Management Act (Act 57 of 2002) advocates a paradigm shift from the current "bucket and blanket brigade" response-based mind set to one where disaster prevention or mitigation are the preferred options. It is in the context of mitigating the effects of floods that the development and implementation of a reliable flood forecasting system has major significance. In the case of flash floods, a few hours lead time can afford disaster managers the opportunity to take steps which may significantly reduce loss of life and damage to property. The engineering challenges in developing and implementing such a system are numerous. In this thesis, the design and implement at ion of a flash flood forecasting system in South Africa is critically examined. The technical aspect s relating to spatio-temporal rainfall estimation and now casting are a key area in which new contributions are made. In particular, field and optical flow advection algorithms are adapted and refined to help predict future path s of storms; fast and pragmatic algorithms for combining rain gauge and remote sensing (rada r and satellite) estimates are re fined and validated; a two-dimensional adaptation of Empirical Mode Decomposition is devised to extract the temporally persistent structure embedded in rainfall fields. A second area of significant contribution relates to real-time fore cast updates, made in response to the most recent observed information. A number of techniques embedded in the rich Kalm an and adaptive filtering literature are adopted for this purpose. The work captures the current "state of play" in the South African context and hopes to provide a blueprint for future development of an essential tool for disaster management. There are a number of natural spin-offs from this work for related field s in water resources management

Fast online 3D reconstruction of dynamic scenes from individual single-photon detection events

In this paper, we present an algorithm for online 3D reconstruction of dynamic scenes using individual times of arrival (ToA) of photons recorded by single-photon detector arrays. One of the main challenges in 3D imaging using single-photon Lidar is the integration time required to build ToA histograms and reconstruct reliable 3D profiles in the presence of non-negligible ambient illumination. This long integration time also prevents the analysis of rapid dynamic scenes using existing techniques. We propose a new method which does not rely on the construction of ToA histograms but allows, for the first time, individual detection events to be processed online, in a parallel manner in different pixels, while accounting for the intrinsic spatiotemporal structure of dynamic scenes. Adopting a Bayesian approach, a Bayesian model is constructed to capture the dynamics of the 3D profile and an approximate inference scheme based on assumed density filtering is proposed, yielding a fast and robust reconstruction algorithm able to process efficiently thousands to millions of frames, as usually recorded using single-photon detectors. The performance of the proposed method, able to process hundreds of frames per second, is assessed using a series of experiments conducted with static and dynamic 3D scenes and the results obtained pave the way to a new family of real-time 3D reconstruction solutions

Robust Localization in 3D Prior Maps for Autonomous Driving.

In order to navigate autonomously, many self-driving vehicles require precise localization within an a priori known map that is annotated with exact lane locations, traffic signs, and additional metadata that govern the rules of the road. This approach transforms the extremely difficult and unpredictable task of online perception into a more structured localization problem—where exact localization in these maps provides the autonomous agent a wealth of knowledge for safe navigation. This thesis presents several novel localization algorithms that leverage a high-fidelity three-dimensional (3D) prior map that together provide a robust and reliable framework for vehicle localization. First, we present a generic probabilistic method for localizing an autonomous vehicle equipped with a 3D light detection and ranging (LIDAR) scanner. This proposed algorithm models the world as a mixture of several Gaussians, characterizing the z-height and reflectivity distribution of the environment—which we rasterize to facilitate fast and exact multiresolution inference. Second, we propose a visual localization strategy that replaces the expensive 3D LIDAR scanners with significantly cheaper, commodity cameras. In doing so, we exploit a graphics processing unit to generate synthetic views of our belief environment, resulting in a localization solution that achieves a similar order of magnitude error rate with a sensor that is several orders of magnitude cheaper. Finally, we propose a visual obstacle detection algorithm that leverages knowledge of our high-fidelity prior maps in its obstacle prediction model. This not only provides obstacle awareness at high rates for vehicle navigation, but also improves our visual localization quality as we are cognizant of static and non-static regions of the environment. All of these proposed algorithms are demonstrated to be real-time solutions for our self-driving car.PhDComputer Science and EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/133410/1/rwolcott_1.pd

EXPERIMENTAL EVALUATION OF MODIFIED PHASE TRANSFORM FOR SOUND SOURCE DETECTION

The detection of sound sources with microphone arrays can be enhanced through processing individual microphone signals prior to the delay and sum operation. One method in particular, the Phase Transform (PHAT) has demonstrated improvement in sound source location images, especially in reverberant and noisy environments. Recent work proposed a modification to the PHAT transform that allows varying degrees of spectral whitening through a single parameter, andamp;acirc;, which has shown positive improvement in target detection in simulation results. This work focuses on experimental evaluation of the modified SRP-PHAT algorithm. Performance results are computed from actual experimental setup of an 8-element perimeter array with a receiver operating characteristic (ROC) analysis for detecting sound sources. The results verified simulation results of PHAT- andamp;acirc; in improving target detection probabilities. The ROC analysis demonstrated the relationships between various target types (narrowband and broadband), room reverberation levels (high and low) and noise levels (different SNR) with respect to optimal andamp;acirc;. Results from experiment strongly agree with those of simulations on the effect of PHAT in significantly improving detection performance for narrowband and broadband signals especially at low SNR and in the presence of high levels of reverberation

Book of Abstracts

no abstrac