Observability Conditions for Target States with Bearing-Only Measurements in Three-Dimensional Case

In target tracking with a passive sensor such as infrared seekers, angle-only information is determined. In this case no information about the range of the target is provided and unobservable system is resulted. This paper studies the observability of discrete time three-dimensional bearing-only target tracking. The target is assumed to be moving in a straight line while a single moving observer (own-ship) measures its relative (elevation and azimuth) bearing angles. By transforming the inherently nonlinear bearing measurements into a pseudo-linear form, a linear Least Squares (LS) estimator is formulated. Observability is then analyzed by studying the solvability of the associated LS problem. This approach has the advantage of providing simple unobservability conditions as opposed to other approaches in the continuous time setup. In this paper, most of motivation and problem formulation is taken from [9]. It is shown that for no maneuvering target, at least three independent measured bearings for system observability is required

Visual pose estimation system for autonomous rendezvous of spacecraft

In this work, a tracker spacecraft equipped with a short-range vision system is tasked with visually identifying a target spacecraft and determining its relative angular velocity and relative linear velocity using only visual information from onboard cameras. Focusing on methods that are feasible for implementation on relatively simple spacecraft hardware, we locate and track objects in three-dimensional space using conventional high-resolution cameras, saving cost and power compared to laser or infrared ranging systems. Identification of the target is done by means of visual feature detection and tracking across rapid, successive frames, taking the perspective matrix of the camera system into account, and building feature maps in three dimensions over time. Features detected in two-dimensional images are matched and triangulated to provide three-dimensional feature maps using structure-from-motion techniques. This methodology allows one, two, or more cameras with known baselines to be used for triangulation, with more images resulting in higher accuracy. Triangulated points are organized by means of orientation histogram descriptors and used to identify and track parts of the target spacecraft over time. This allows some estimation of the target spacecraft's motion even if parts of the spacecraft are obscured or in shadow. The state variables with respect to the camera system are extracted as a relative rotation quaternion and relative translation vector for the target. Robust tracking of the state variables for the target spacecraft is accomplished by an embedded adaptive unscented Kalman filter. In addition to estimation of the target quaternion from visual Information, the adaptive filter can also identify when tracking errors have occurred by measurement of the residual. Significant variations in lighting can be tolerated as long as the movement of the satellite is consistent with the system model, and illumination changes slowly enough for state variables to be estimated periodically. Inertial measurements over short periods of time can then be used to determine the movement of both the tracker and target spacecraft. In addition, with a sufficient number of features tracked, the center of mass of the target can be located. This method is tested using laboratory images of spacecraft movement with a simulated spacecraft movement model. Varying conditions are applied to demonstrate the effectiveness and limitations of the system for online estimation of the movement of a target spacecraft at close range

Challenges with bearings only tracking for missile guidance systems and how to cope with them.

This paper addresses the problem of closed loop missile guidance using bearings and target angular extent information. Comparison is performed between particle filtering methods and derivative free methods. The extent information characterizes target size and we show how this can help compensate for observability problems. We demonstrate that exploiting angular extent information improves filter estimation accuracy. The performance of the filters has been studied over a testing scenario with a static target, with respect to accuracy, sensitivity to perturbations in initial conditions and in different seeker modes (active, passive and semi-active)

Continuous Wavelet Transform and Hidden Markov Model Based Target Detection

Standard tracking filters perform target detection process by comparing the sensor output signal with a predefined threshold. However, selecting the detection threshold is of great importance and a wrongly selected threshold causes two major problems. The first problem occurs when the selected threshold is too low which results in increased false alarm rate. The second problem arises when the selected threshold is too high resulting in missed detection. Track-before-detect (TBD) techniques eliminate the need for a detection threshold and provide detecting and tracking targets with lower signal-to-noise ratios than standard methods. Although TBD techniques eliminate the need for detection threshold at sensor’s signal processing stage, they often use tuning thresholds at the output of the filtering stage. This paper presents a Continuous Wavelet Transform (CWT) and Hidden Markov Model (HMM) based target detection method for employing with TBD techniques which does not employ any thresholding

Tracking the affective state of unseen persons.

Emotion recognition is an essential human ability critical for social functioning. It is widely assumed that identifying facial expression is the key to this, and models of emotion recognition have mainly focused on facial and bodily features in static, unnatural conditions. We developed a method called affective tracking to reveal and quantify the enormous contribution of visual context to affect (valence and arousal) perception. When characters' faces and bodies were masked in silent videos, viewers inferred the affect of the invisible characters successfully and in high agreement based solely on visual context. We further show that the context is not only sufficient but also necessary to accurately perceive human affect over time, as it provides a substantial and unique contribution beyond the information available from face and body. Our method (which we have made publicly available) reveals that emotion recognition is, at its heart, an issue of context as much as it is about faces