Image fusion techniqes for remote sensing applications

Image fusion refers to the acquisition, processing and synergistic combination of information provided by various sensors or by the same sensor in many measuring contexts. The aim of this survey paper is to describe three typical applications of data fusion in remote sensing. The first study case considers the problem of the Synthetic Aperture Radar (SAR) Interferometry, where a pair of antennas are used to obtain an elevation map of the observed scene; the second one refers to the fusion of multisensor and multitemporal (Landsat Thematic Mapper and SAR) images of the same site acquired at different times, by using neural networks; the third one presents a processor to fuse multifrequency, multipolarization and mutiresolution SAR images, based on wavelet transform and multiscale Kalman filter. Each study case presents also results achieved by the proposed techniques applied to real data

Multisensor-based human detection and tracking for mobile service robots

The one of fundamental issues for service robots is human-robot interaction. In order to perform such a task and provide the desired services, these robots need to detect and track people in the surroundings. In the present paper, we propose a solution for human tracking with a mobile robot that implements multisensor data fusion techniques. The system utilizes a new algorithm for laser-based legs detection using the on-board LRF. The approach is based on the recognition of typical leg patterns extracted from laser scans, which are shown to be very discriminative also in cluttered environments. These patterns can be used to localize both static and walking persons, even when the robot moves. Furthermore, faces are detected using the robot's camera and the information is fused to the legs position using a sequential implementation of Unscented Kalman Filter. The proposed solution is feasible for service robots with a similar device configuration and has been successfully implemented on two different mobile platforms. Several experiments illustrate the effectiveness of our approach, showing that robust human tracking can be performed within complex indoor environments

Vehicle recognition and tracking using a generic multi-sensor and multi-algorithm fusion approach

International audienceThis paper tackles the problem of improving the robustness of vehicle detection for Adaptive Cruise Control (ACC) applications. Our approach is based on a multisensor and a multialgorithms data fusion for vehicle detection and recognition. Our architecture combines two sensors: a frontal camera and a laser scanner. The improvement of the robustness stems from two aspects. First, we addressed the vision-based detection by developing an original approach based on fine gradient analysis, enhanced with a genetic AdaBoost-based algorithm for vehicle recognition. Then, we use the theory of evidence as a fusion framework to combine confidence levels delivered by the algorithms in order to improve the classification 'vehicle versus non-vehicle'. The final architecture of the system is very modular, generic and flexible in that it could be used for other detection applications or using other sensors or algorithms providing the same outputs. The system was successfully implemented on a prototype vehicle and was evaluated under real conditions and over various multisensor databases and various test scenarios, illustrating very good performances

Classifying multisensor remote sensing data : Concepts, Algorithms and Applications

Today, a large quantity of the Earth’s land surface has been affected by human induced land cover changes. Detailed knowledge of the land cover is elementary for several decision support and monitoring systems. Earth-observation (EO) systems have the potential to frequently provide information on land cover. Thus many land cover classifications are performed based on remotely sensed EO data. In this context, it has been shown that the performance of remote sensing applications is further improved by multisensor data sets, such as combinations of synthetic aperture radar (SAR) and multispectral imagery. The two systems operate in different wavelength domains and therefore provide different yet complementary information on land cover. Considering the increase in revisit times and better spatial resolutions of recent and upcoming systems like TerraSAR-X (11 days; up to1 m), Radarsat-2 (24 days; up to 3 m), or RapidEye constellation (up to 1 day; 5 m), multisensor approaches become even more promising. However, these data sets with high spatial and temporal resolution might become very large and complex. Commonly used statistical pattern recognition methods are usually not appropriate for the classification of multisensor data sets. Hence, one of the greatest challenges in remote sensing might be the development of adequate concepts for classifying multisensor imagery. The presented study aims at an adequate classification of multisensor data sets, including SAR data and multispectral images. Different conventional classifiers and recent developments are used, such as support vector machines (SVM) and random forests (RF), which are well known in the field of machine learning and pattern recognition. Furthermore, the impact of image segmentation on the classification accuracy is investigated and the value of a multilevel concept is discussed. To increase the performance of the algorithms in terms of classification accuracy, the concept of SVM is modified and combined with RF for optimized decision making. The results clearly demonstrate that the use of multisensor imagery is worthwhile. Irrespective of the classification method used, classification accuracies increase by combining SAR and multispectral imagery. Nevertheless, SVM and RF are more adequate for classifying multisensor data sets and significantly outperform conventional classifier algorithms in terms of accuracy. The finally introduced multisensor-multilevel classification strategy, which is based on the sequential use of SVM and RF, outperforms all other approaches. The proposed concept achieves an accuracy of 84.9%. This is significantly higher than all single-source results and also better than those achieved on any other combination of data. Both aspects, i.e. the fusion of SAR and multispectral data as well as the integration of multiple segmentation scales, improve the results. Contrary to the high accuracy value by the proposed concept, the pixel-based classification on single-source data sets achieves a maximal accuracy of 65% (SAR) and 69.8% (multispectral) respectively. The findings and good performance of the presented strategy are underlined by the successful application of the approach to data sets from a second year. Based on the results from this work it can be concluded that the suggested strategy is particularly interesting with regard to recent and future satellite missions

Multisensor Data Fusion for Human Activities Classification and Fall Detection

Significant research exists on the use of wearable sensors in the context of assisted living for activities recognition and fall detection, whereas radar sensors have been studied only recently in this domain. This paper approaches the performance limitation of using individual sensors, especially for classification of similar activities, by implementing information fusion of features extracted from experimental data collected by different sensors, namely a tri-axial accelerometer, a micro-Doppler radar, and a depth camera. Preliminary results confirm that combining information from heterogeneous sensors improves the overall performance of the system. The classification accuracy attained by means of this fusion approach improves by 11.2% compared to radar-only use, and by 16.9% compared to the accelerometer. Furthermore, adding features extracted from a RGB-D Kinect sensor, the overall classification accuracy increases up to 91.3%

Enhancing the effectiveness of ligand-based virtual screening using data fusion

Data fusion is being increasingly used to combine the outputs of different types of sensor. This paper reviews the application of the approach to ligand-based virtual screening, where the sensors to be combined are functions that score molecules in a database on their likelihood of exhibiting some required biological activity. Much of the literature to date involves the combination of multiple similarity searches, although there is also increasing interest in the combination of multiple machine learning techniques. Both approaches are reviewed here, focusing on the extent to which fusion can improve the effectiveness of searching when compared with a single screening mechanism, and on the reasons that have been suggested for the observed performance enhancement

Computationally efficient solutions for tracking people with a mobile robot: an experimental evaluation of Bayesian filters

Modern service robots will soon become an essential part of modern society. As they have to move and act in human environments, it is essential for them to be provided with a fast and reliable tracking system that localizes people in the neighbourhood. It is therefore important to select the most appropriate filter to estimate the position of these persons. This paper presents three efficient implementations of multisensor-human tracking based on different Bayesian estimators: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Sampling Importance Resampling (SIR) particle filter. The system implemented on a mobile robot is explained, introducing the methods used to detect and estimate the position of multiple people. Then, the solutions based on the three filters are discussed in detail. Several real experiments are conducted to evaluate their performance, which is compared in terms of accuracy, robustness and execution time of the estimation. The results show that a solution based on the UKF can perform as good as particle filters and can be often a better choice when computational efficiency is a key issue