Tracking Target Signal Strengths on a Grid using Sparsity

Multi-target tracking is mainly challenged by the nonlinearity present in the measurement equation, and the difficulty in fast and accurate data association. To overcome these challenges, the present paper introduces a grid-based model in which the state captures target signal strengths on a known spatial grid (TSSG). This model leads to \emph{linear} state and measurement equations, which bypass data association and can afford state estimation via sparsity-aware Kalman filtering (KF). Leveraging the grid-induced sparsity of the novel model, two types of sparsity-cognizant TSSG-KF trackers are developed: one effects sparsity through $\ell_1$-norm regularization, and the other invokes sparsity as an extra measurement. Iterative extended KF and Gauss-Newton algorithms are developed for reduced-complexity tracking, along with accurate error covariance updates for assessing performance of the resultant sparsity-aware state estimators. Based on TSSG state estimates, more informative target position and track estimates can be obtained in a follow-up step, ensuring that track association and position estimation errors do not propagate back into TSSG state estimates. The novel TSSG trackers do not require knowing the number of targets or their signal strengths, and exhibit considerably lower complexity than the benchmark hidden Markov model filter, especially for a large number of targets. Numerical simulations demonstrate that sparsity-cognizant trackers enjoy improved root mean-square error performance at reduced complexity when compared to their sparsity-agnostic counterparts.Comment: Submitted to IEEE Trans. on Signal Processin

LookOut! Interactive Camera Gimbal Controller for Filming Long Takes

The job of a camera operator is more challenging, and potentially dangerous, when filming long moving camera shots. Broadly, the operator must keep the actors in-frame while safely navigating around obstacles, and while fulfilling an artistic vision. We propose a unified hardware and software system that distributes some of the camera operator's burden, freeing them up to focus on safety and aesthetics during a take. Our real-time system provides a solo operator with end-to-end control, so they can balance on-set responsiveness to action vs planned storyboards and framing, while looking where they're going. By default, we film without a field monitor. Our LookOut system is built around a lightweight commodity camera gimbal mechanism, with heavy modifications to the controller, which would normally just provide active stabilization. Our control algorithm reacts to speech commands, video, and a pre-made script. Specifically, our automatic monitoring of the live video feed saves the operator from distractions. In pre-production, an artist uses our GUI to design a sequence of high-level camera "behaviors." Those can be specific, based on a storyboard, or looser objectives, such as "frame both actors." Then during filming, a machine-readable script, exported from the GUI, ties together with the sensor readings to drive the gimbal. To validate our algorithm, we compared tracking strategies, interfaces, and hardware protocols, and collected impressions from a) film-makers who used all aspects of our system, and b) film-makers who watched footage filmed using LookOut.Comment: V2: - Fixed typos. - Cleaner supplemental. - New plot in control section with same data from a supplemental vide

Improving Global Multi-target Tracking with Local Updates

Conference dates: September 6-7 & 12, 2014We propose a scheme to explicitly detect and resolve ambiguous situations in multiple target tracking. During periods of uncertainty, our method applies multiple local single target trackers to hypothesise short term tracks. These tracks are combined with the tracks obtained by a global multi-target tracker, if they result in a reduction in the global cost function. Since tracking failures typically arise when targets become occluded, we propose a local data association scheme to maintain the target identities in these situations. We demonstrate a reduction of up to 50% in the global cost function, which in turn leads to superior performance on several challenging benchmark sequences. Additionally, we show tracking results in sports videos where poor video quality and frequent and severe occlusions between multiple players pose difficulties for state-of-the-art trackers.Anton Milan, Rikke Gade, Anthony Dick, Thomas B. Moeslund, and Ian Rei

Renewable electricity generation and transmission network developments in light of public opposition: Insights from Ireland. ESRI Working Paper No. 653 March 2020

This paper analyses how people’s attitudes towards onshore wind power and overhead transmission lines affect the costoptimal development of electricity generation mixes, under a high renewable energy policy. For that purpose, we use a power systems generation and transmission expansion planning model, combined with information on public attitudes towards energy infrastructure on the island of Ireland. Overall, households have a positive attitude towards onshore wind power but their willingness to accept wind farms near their homes tends to be low. Opposition to overhead transmission lines is even greater. This can lead to a substantial increase in the costs of expanding the power system. In the Irish case, costs escalate by more than 4.3% when public opposition is factored into the constrained optimisation of power generation and grid expansion planning across the island. This is mainly driven by the compounded effects of higher capacity investments in more expensive technologies such as offshore wind and solar photovoltaic to compensate for lower levels of onshore wind generation and grid reinforcements. The results also reveal the effect of public opposition on the value of onshore wind, via shadow prices. The higher the level of public opposition, the higher the shadow value of onshore wind. And, this starkly differs across regions: regions with more wind resource or closest to major demand centres have the highest shadow prices. The shadow costs can guide policy makers when designing incentive mechanisms to garner public support for onshore wind installations

Peer-to-Peer energy trading, independence aspirations and financial benefits among Nigerian households

This paper demonstrates how preferences for energy trading are influenced by autarky aspirations and possible financial benefits from energy trading in the form of lower energy expenses and additional income. It presents findings from a survey on preferences for energy trading on a community-based platform within a residential estate setting. The survey included a choice experiment of hypothetical home choices with the possibility of energy trading on a peer-to-peer (P2P) energy trading platform. It also distinguished between preferences for buying and selling. Participants were 649 residents of housing estates in Ibadan, a Nigerian city. According to our logistic regression analysis, willingness to participate in energy trading was influenced by autarky aspirations and financial benefits. The financial benefits that interest respondents include gaining additional income from P2P energy trading and reducing overall power expenses. The autarky benefit that drives interest in P2P is “reduced reliance” on the grid for electricity. Real estate developers could therefore capitalise on consumers' high levels of interest in the benefits of homes with P2P energy trading capabilities. Nigerian energy policymakers should put in place structures that support P2P because P2P energy trading can unlock the additional value of solar PV for residential consumers

Using natural versus artificial stimuli to perform calibration for 3D gaze tracking

International audienceThe presented study tests which type of stereoscopic image, natural or artificial, is more adapted to perform efficient and reliable calibration in order to track the gaze of observers in 3D space using classical 2D eye tracker. We measured the horizontal disparities, i.e. the difference between the x coordinates of the two eyes obtained using a 2D eye tracker. This disparity was recorded for each observer and for several target positions he had to fixate. Target positions were equally distributed in the 3D space, some on the screen (with a null disparity), some behind the screen (uncrossed disparity) and others in front of the screen (crossed disparity). We tested different regression models (linear and non linear) to explain either the true disparity or the depth with the measured disparity. Models were tested and compared on their prediction error for new targets at new positions. First of all, we found that we obtained more reliable disparities measures when using natural stereoscopic images rather than artificial. Second, we found that overall a non-linear model was more efficient. Finally, we discuss the fact that our results were observer dependent, with variability's between the observer's behavior when looking at 3D stimuli. Because of this variability, we proposed to compute observer specific model to accurately predict their gaze position when exploring 3D stimuli

ATC Trajectory Reconstruction for Automated Evaluation of Sensor and Tracker Performance

Currently most air traffic controller decisions are based on the information provided by the ground support tools provided by automation systems, based on a network of surveillance sensors and the associated tracker. To guarantee surveillance integrity, it is clear that performance assessments of the different elements of the surveillance system are necessary. Due to the evolution suffered by the surveillance processing chain in the recent past, its complexity has been increased by the integration of new sensor types (e.g., automatic dependent surveillance-broadcast [ADS-B], Mode S radars, and wide area multilateration [WAM]), data link applications, and networking technologies. With new sensors, there is a need for system-level performance evaluations as well as methods for establishing assessment at each component of the tracking evaluation.This work was funded by contract EUROCONTROL’s TRES, by the Spanish Ministry of Economy and Competitiveness under grants CICYT TEC2008-06732/TEC and CYCIT TEC2011-28626, and by the Government of Madrid under grant S2009/TIC-1485 (CONTEXTS).Publicad