A Distance-Based Decision in the Credal Level

Belief function theory provides a flexible way to combine information provided by different sources. This combination is usually followed by a decision making which can be handled by a range of decision rules. Some rules help to choose the most likely hypothesis. Others allow that a decision is made on a set of hypotheses. In [6], we proposed a decision rule based on a distance measure. First, in this paper, we aim to demonstrate that our proposed decision rule is a particular case of the rule proposed in [4]. Second, we give experiments showing that our rule is able to decide on a set of hypotheses. Some experiments are handled on a set of mass functions generated randomly, others on real databases

Continuous belief functions and α-stable distributions

International audienceThe theory of belief functions has been formalized in continuous domain for pattern recognition. Some applications use assumption of Gaussian models. However, this assumption is reductive. Indeed, some data are not symmetric and present property of heavy tails. It is possible to solve these problems by using a class of distributions called α-stable distributions. Consequently, we present in this paper a way to calculate pignistic probabilities with plausibility functions where the knowledge of the sources of information is represented by symmetric α-stable distributions. To validate our approach, we compare our results in special case of Gaussian distributions with existing methods. To illustrate our work, we generate arbitrary distributions which represents speed of planes and take decisions. A comparison with a Bayesian approach is made to show the interest of the theory of belief functions

Service-oriented agent architecture for autonomous maritime vehicles

Advanced ocean systems are increasing their capabilities and the degree of autonomy more and more in order to perform more sophisticated maritime missions. Remotely operated vehicles are no longer cost-effective since they are limited by economic support costs, and the presence and skills of the human operator. Alternatively, autonomous surface and underwater vehicles have the potential to operate with greatly reduced overhead costs and level of operator intervention. This Thesis proposes an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. They are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The architectural foundation to achieve the ICA lays on the flexibility of service-oriented computing and agent technology. An ontological database captures the operator skills, platform capabilities and, changes in the environment. The information captured, stored as knowledge, enables reasoning agents to plan missions based on the current situation. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This Thesis also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions

Active Classification: Theory and Application to Underwater Inspection

We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to underwater inspection: 3D polyhedra recognition in synthetic depth maps and ship hull inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80% when compared to passive methods.Comment: 16 page

Advances in Sonar Technology

The demand to explore the largest and also one of the richest parts of our planet, the advances in signal processing promoted by an exponential growth in computation power and a thorough study of sound propagation in the underwater realm, have lead to remarkable advances in sonar technology in the last years.The work on hand is a sum of knowledge of several authors who contributed in various aspects of sonar technology. This book intends to give a broad overview of the advances in sonar technology of the last years that resulted from the research effort of the authors in both sonar systems and their applications. It is intended for scientist and engineers from a variety of backgrounds and even those that never had contact with sonar technology before will find an easy introduction with the topics and principles exposed here

Machine learning methods for discriminating natural targets in seabed imagery

The research in this thesis concerns feature-based machine learning processes and methods for discriminating qualitative natural targets in seabed imagery. The applications considered, typically involve time-consuming manual processing stages in an industrial setting. An aim of the research is to facilitate a means of assisting human analysts by expediting the tedious interpretative tasks, using machine methods. Some novel approaches are devised and investigated for solving the application problems. These investigations are compartmentalised in four coherent case studies linked by common underlying technical themes and methods. The first study addresses pockmark discrimination in a digital bathymetry model. Manual identification and mapping of even a relatively small number of these landform objects is an expensive process. A novel, supervised machine learning approach to automating the task is presented. The process maps the boundaries of ≈ 2000 pockmarks in seconds - a task that would take days for a human analyst to complete. The second case study investigates different feature creation methods for automatically discriminating sidescan sonar image textures characteristic of Sabellaria spinulosa colonisation. Results from a comparison of several textural feature creation methods on sonar waterfall imagery show that Gabor filter banks yield some of the best results. A further empirical investigation into the filter bank features created on sonar mosaic imagery leads to the identification of a useful configuration and filter parameter ranges for discriminating the target textures in the imagery. Feature saliency estimation is a vital stage in the machine process. Case study three concerns distance measures for the evaluation and ranking of features on sonar imagery. Two novel consensus methods for creating a more robust ranking are proposed. Experimental results show that the consensus methods can improve robustness over a range of feature parameterisations and various seabed texture classification tasks. The final case study is more qualitative in nature and brings together a number of ideas, applied to the classification of target regions in real-world sonar mosaic imagery. A number of technical challenges arose and these were surmounted by devising a novel, hybrid unsupervised method. This fully automated machine approach was compared with a supervised approach in an application to the problem of image-based sediment type discrimination. The hybrid unsupervised method produces a plausible class map in a few minutes of processing time. It is concluded that the versatile, novel process should be generalisable to the discrimination of other subjective natural targets in real-world seabed imagery, such as Sabellaria textures and pockmarks (with appropriate features and feature tuning.) Further, the full automation of pockmark and Sabellaria discrimination is feasible within this framework

Target detection in clutter for sonar imagery

This thesis is concerned with the analysis of side-looking sonar images, and specif- ically with the identification of the types of seabed that are present in such images, and with the detection of man-made objects in such images. Side-looking sonar images are, broadly speaking, the result of the physical interaction between acous- tic waves and the bottom of the sea. Because of this interaction, the types of seabed appear as textured areas in side-looking sonar images. The texture descrip- tors commonly used in the field of sonar imagery fail at accurately identifying the types of seabed because the types of seabed, hence the textures, are extremely variable. In this thesis, we did not use the traditional texture descriptors to identify the types of seabed. We rather used scattering operators which recently appeared in the field of signal and image processing. We assessed how well the types of seabed are identified through two inference algorithms, one based on affine spaces, and the other based on the concept of similarity by composition. This thesis is also concerned with the detection of man-made objects in side-looking sonar im- ages. An object detector may be described as a method which, when applied to a certain number of sonar images, produces a set of detections. Some of these are true positives, and correspond to real objects. Others are false positives, and do not correspond to real objects. The present object detectors suffer from a high false positive rate in complex environments, that is to say, complex types of seabed. The hypothesis we will follow is that it is possible to reduce the number of false positives through a characterisation of the similarity between the detections and the seabed, the false positives being by nature part of the seabed. We will use scattering operators to represent the detections and the same two inference algorithms to quantify how similar the detections are to the seabed