Riemann-Langevin Particle Filtering in Track-Before-Detect

Track-before-detect (TBD) is a powerful approach that consists in providing the tracker with sensor measurements directly without pre-detection. Due to the measurement model non-linearities, online state estimation in TBD is most commonly solved via particle filtering. Existing particle filters for TBD do not incorporate measurement information in their proposal distribution. The Langevin Monte Carlo (LMC) is a sampling method whose proposal is able to exploit all available knowledge of the posterior (that is, both prior and measurement information). This letter synthesizes recent advances in LMC-based filtering to describe the Riemann-Langevin particle filter and introduces its novel application to TBD. The benefits of our approach are illustrated in a challenging low-noise scenario.Comment: Minor grammatical update

On the use of the l(2)-norm for texture analysis of polarimetric SAR data

In this paper, the use of the l2-norm, or Span, of the scattering vectors is suggested for texture analysis of polarimetric synthetic aperture radar (SAR) data, with the benefits that we need neither an analysis of the polarimetric channels separately nor a filtering of the data to analyze the statistics. Based on the product model, the distribution of the l2-norm is studied. Closed expressions of the probability density functions under the assumptions of several texture distributions are provided. To utilize the statistical properties of the l2-norm, quantities including normalized moments and log-cumulants are derived, along with corresponding estimators and estimation variances. Results on both simulated and real SAR data show that the use of statistics based on the l2-norm brings advantages in several aspects with respect to the normalized intensity moments and matrix variate log-cumulants.Peer ReviewedPostprint (published version

Self-adjustable domain adaptation in personalized ECG monitoring integrated with IR-UWB radar

To enhance electrocardiogram (ECG) monitoring systems in personalized detections, deep neural networks (DNNs) are applied to overcome individual differences by periodical retraining. As introduced previously [4], DNNs relieve individual differences by fusing ECG with impulse radio ultra-wide band (IR-UWB) radar. However, such DNN-based ECG monitoring system tends to overfit into personal small datasets and is difficult to generalize to newly collected unlabeled data. This paper proposes a self-adjustable domain adaptation (SADA) strategy to prevent from overfitting and exploit unlabeled data. Firstly, this paper enlarges the database of ECG and radar data with actual records acquired from 28 testers and expanded by the data augmentation. Secondly, to utilize unlabeled data, SADA combines self organizing maps with the transfer learning in predicting labels. Thirdly, SADA integrates the one-class classification with domain adaptation algorithms to reduce overfitting. Based on our enlarged database and standard databases, a large dataset of 73200 records and a small one of 1849 records are built up to verify our proposal. Results show SADA\u27s effectiveness in predicting labels and increments in the sensitivity of DNNs by 14.4% compared with existing domain adaptation algorithms

Micro-Doppler Based Human-Robot Classification Using Ensemble and Deep Learning Approaches

Radar sensors can be used for analyzing the induced frequency shifts due to micro-motions in both range and velocity dimensions identified as micro-Doppler ($\boldsymbol{\mu}$-D) and micro-Range ($\boldsymbol{\mu}$-R), respectively. Different moving targets will have unique $\boldsymbol{\mu}$-D and $\boldsymbol{\mu}$-R signatures that can be used for target classification. Such classification can be used in numerous fields, such as gait recognition, safety and surveillance. In this paper, a 25 GHz FMCW Single-Input Single-Output (SISO) radar is used in industrial safety for real-time human-robot identification. Due to the real-time constraint, joint Range-Doppler (R-D) maps are directly analyzed for our classification problem. Furthermore, a comparison between the conventional classical learning approaches with handcrafted extracted features, ensemble classifiers and deep learning approaches is presented. For ensemble classifiers, restructured range and velocity profiles are passed directly to ensemble trees, such as gradient boosting and random forest without feature extraction. Finally, a Deep Convolutional Neural Network (DCNN) is used and raw R-D images are directly fed into the constructed network. DCNN shows a superior performance of 99\% accuracy in identifying humans from robots on a single R-D map.Comment: 6 pages, accepted in IEEE Radar Conference 201

Particle Filter Design Using Importance Sampling for Acoustic Source Localisation and Tracking in Reverberant Environments

Sequential Monte Carlo methods have been recently proposed to deal with the problem of acoustic source localisation and tracking using an array of microphones. Previous implementations make use of the basic bootstrap particle filter, whereas a more general approach involves the concept of importance sampling. In this paper, we develop a new particle filter for acoustic source localisation using importance sampling, and compare its tracking ability with that of a bootstrap algorithm proposed previously in the literature. Experimental results obtained with simulated reverberant samples and real audio recordings demonstrate that the new algorithm is more suitable for practical applications due to its reinitialisation capabilities, despite showing a slightly lower average tracking accuracy. A real-time implementation of the algorithm also shows that the proposed particle filter can reliably track a person talking in real reverberant rooms.This paper was performed while Eric A. Lehmann was working with National ICT Australia. National ICT Australia is funded by the Australian Government’s Department of Communications, Information Technology, and the Arts, the Australian Research Council, through Backing Australia’s Ability, and the ICT Centre of Excellence programs

Stairs Detection for Enhancing Wheelchair Capabilities Based on Radar Sensors

Powered wheelchair users encounter barriers to their mobility everyday. Entering a building with non barrier-free areas can massively impact the user mobility related activities. There are a few commercial devices and some experimental that can climb stairs using for instance adaptive wheels with joints or caterpillar drive. These systems rely on the use for sensing and control. For safe automated obstacle crossing, a robust and environment invariant detection of the surrounding is necessary. Radar may prove to be a suitable sensor for its capability to handle harsh outdoor environmental conditions. In this paper, we introduce a mirror based two dimensional Frequency-Modulated Continuous-Wave (FMCW) radar scanner for stair detection. A radar image based stair dimensioning approach is presented and tested under laboratory and realistic conditions.Comment: 5 pages, Accepted and presented in 2017 IEEE 6th Global Conference on Consumer Electronics (GCCE 2017

Stochastic simulation techniques as related to innovation in communications-navigation-surveillance and air traffic management (CNS/ATM)

The design and operational tuning of the instruments and procedures employed in communications-navigation-surveillance (CNS) and air traffic management (ATM) often relies on stochastic simulation techniques. In this paper the application areas of simulation in the CNS/ATM context are reviewed together with the simulation methods that can help solve the main problems encountered, i.e. quick simulation techniques for the simulation of rare events, and the bootstrap technique for the evaluation of the accuracy of the results

Assessment of multi-temporal, multi-sensor radar and ancillary spatial data for grasslands monitoring in Ireland using machine learning approaches

Accurate inventories of grasslands are important for studies of carbon dynamics, biodiversity conservation and agricultural management. For regions with persistent cloud cover the use of multi-temporal synthetic aperture radar (SAR) data provides an attractive solution for generating up-to-date inventories of grasslands. This is even more appealing considering the data that will be available from upcoming missions such as Sentinel-1 and ALOS-2. In this study, the performance of three machine learning algorithms; Random Forests (RF), Support Vector Machines (SVM) and the relatively underused Extremely Randomised Trees (ERT) is evaluated for discriminating between grassland types over two large heterogeneous areas of Ireland using multi-temporal, multi-sensor radar and ancillary spatial datasets. A detailed accuracy assessment shows the efficacy of the three algorithms to classify different types of grasslands. Overall accuracies ≥ 88.7% (with kappa coefficient of 0.87) were achieved for the single frequency classifications and maximum accuracies of 97.9% (kappa coefficient of 0.98) for the combined frequency classifications. For most datasets, the ERT classifier outperforms SVM and RF

On the accuracy of retrieved wind information from Doppler lidar observations

A single pulsed Doppler lidar was successfully deployed to measure air flow and turbulence over the Malvern hills, Worcester, UK. The DERA Malvern lidar used was a CO2 µm pulsed Doppler lidar. The lidar pulse repetition rate was 120 Hz and had a pulse duration of 0.6 µs The system was set up to have 41 range gates with range resolution of 112 m. This gave a theoretical maximum range of approximately 4.6 km. The lidar site was 2 km east of the Malvern hill ridge which runs in a north-south direction and is approximately 6 km long. The maximum height of the ridge is 430 m. Two elevation scans (Range-Height Indicators) were carried out parallel and perpendicular to the mean surface flow. Since the surface wind was primarily westerly the scans were carried out perpendicular and parallel to the ridge of the Malvern hills. The data were analysed and horizontal winds, vertical winds and turbulent fluxes were calculated for profiles throughout the boundary layer. As an aid to evaluating the errors associated with the derivation of velocity and turbulence profiles, data from a simple idealized profile was also analysed using the same method. The error analysis shows that wind velocity profiles can be derived to an accuracy of 0.24 m s-1 in the horizontal and 0.3 m s-1 in the vertical up to a height of 2500 m. The potential for lidars to make turbulence measurements, over a wide area, through the whole depth of the planetary boundary layer and over durations from seconds to hours is discussed