4,523 research outputs found
Pattern-theoretic foundations of automatic target recognition in clutter
Issued as final reportAir Force Office of Scientific Research (U.S.
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
A Survey on Multisensor Fusion and Consensus Filtering for Sensor Networks
Multisensor fusion and consensus filtering are two fascinating subjects in the research of sensor networks. In this survey, we will cover both classic results and recent advances developed in these two topics. First, we recall some important results in the development ofmultisensor fusion technology. Particularly, we pay great attention to the fusion with unknown correlations, which ubiquitously exist in most of distributed filtering problems. Next, we give a systematic review on several widely used consensus filtering approaches. Furthermore, some latest progress on multisensor fusion and consensus filtering is also presented. Finally,
conclusions are drawn and several potential future research directions are outlined.the Royal Society of the UK, the National Natural Science Foundation of China under Grants 61329301, 61374039, 61304010, 11301118, and 61573246, the Hujiang Foundation of China under Grants C14002
and D15009, the Alexander von Humboldt Foundation of Germany, and the Innovation Fund Project for Graduate Student of Shanghai under Grant JWCXSL140
Active Classification for POMDPs: a Kalman-like State Estimator
The problem of state tracking with active observation control is considered
for a system modeled by a discrete-time, finite-state Markov chain observed
through conditionally Gaussian measurement vectors. The measurement model
statistics are shaped by the underlying state and an exogenous control input,
which influence the observations' quality. Exploiting an innovations approach,
an approximate minimum mean-squared error (MMSE) filter is derived to estimate
the Markov chain system state. To optimize the control strategy, the associated
mean-squared error is used as an optimization criterion in a partially
observable Markov decision process formulation. A stochastic dynamic
programming algorithm is proposed to solve for the optimal solution. To enhance
the quality of system state estimates, approximate MMSE smoothing estimators
are also derived. Finally, the performance of the proposed framework is
illustrated on the problem of physical activity detection in wireless body
sensing networks. The power of the proposed framework lies within its ability
to accommodate a broad spectrum of active classification applications including
sensor management for object classification and tracking, estimation of sparse
signals and radar scheduling.Comment: 38 pages, 6 figure
A higher-order active contour model of a `gas of circles' and its application to tree crown extraction
Many image processing problems involve identifying the region in the image
domain occupied by a given entity in the scene. Automatic solution of these
problems requires models that incorporate significant prior knowledge about the
shape of the region. Many methods for including such knowledge run into
difficulties when the topology of the region is unknown a priori, for example
when the entity is composed of an unknown number of similar objects.
Higher-order active contours (HOACs) represent one method for the modelling of
non-trivial prior knowledge about shape without necessarily constraining region
topology, via the inclusion of non-local interactions between region boundary
points in the energy defining the model. The case of an unknown number of
circular objects arises in a number of domains, e.g. medical, biological,
nanotechnological, and remote sensing imagery. Regions composed of an a priori
unknown number of circles may be referred to as a `gas of circles'. In this
report, we present a HOAC model of a `gas of circles'. In order to guarantee
stable circles, we conduct a stability analysis via a functional Taylor
expansion of the HOAC energy around a circular shape. This analysis fixes one
of the model parameters in terms of the others and constrains the rest. In
conjunction with a suitable likelihood energy, we apply the model to the
extraction of tree crowns from aerial imagery, and show that the new model
outperforms other techniques
Factored particle filtering with dependent and constrained partition dynamics for tracking deformable objects
In particle filtering, dimensionality of the state space can be reduced by tracking control (or feature) points as independent objects, which are traditionally named as partitions. Two critical decisions have to be made in implementation of reduced state-space dimensionality. First is how to construct a dynamic (transition) model for partitions that are inherently dependent. Second critical decision is how to filter partition states such that a viable and likely object state is achieved. In this study, we present a correlation-based transition model and a proposal function that incorporate partition dependency in particle filtering in a computationally tractable manner. We test our algorithm on challenging examples of occlusion, clutter and drastic changes in relative speeds of partitions. Our successful results with as low as 10 particles per partition indicate that the proposed algorithm is both robust and efficient.This research is part of project "Expression Recognition based on Facial Anatomy", grant number 109E061, supported by The Support Programme for Scientific and Technological Research Projects of The Scientific and Technological Research Council of Turkey (TUBITAK). In comparative evaluation of the tracking algorithms we utilized the SPOT tracking code that was made publicly available by researchers Lu Zhang and Laurens van der Maaten. A special thanks to Fish Species who generously provided the high definition aquarium videos used in our experiments (http://www.fish-species.org.uk)Publisher's VersionAuthor Post Prin
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