Extended Object Tracking: Introduction, Overview and Applications

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are highlighted.Comment: 30 pages, 19 figure

Research reports: 1991 NASA/ASEE Summer Faculty Fellowship Program

The basic objectives of the programs, which are in the 28th year of operation nationally, are: (1) to further the professional knowledge of qualified engineering and science faculty members; (2) to stimulate an exchange of ideas between participants and NASA; (3) to enrich and refresh the research and teaching activities of the participants' institutions; and (4) to contribute to the research objectives of the NASA Centers. The faculty fellows spent 10 weeks at MSFC engaged in a research project compatible with their interests and background and worked in collaboration with a NASA/MSFC colleague. This is a compilation of their research reports for summer 1991

The middeck 0-gravity dynamics experiment

The Middeck 0-Gravity Dynamics Experiment (MODE), flown onboard the Shuttle STS-48 Mission, consists of three major elements: the Experiment Support Module, a dynamics test bed providing computer experiment control, analog signal conditioning, power conditioning, an operator interface consisting of a keypad and display, experiment electrical and thermal control, and archival data storage: the Fluid Test Article assembly, used to investigate the dynamics of fluid-structure interaction in 0-gravity; and the Structural Test Article for investigating the open-loop dynamics of structures in 0-gravity. Deployable, erectable, and rotary modules were assembled to form three one- and two-dimensional structures, in which variations in bracing wire and rotary joint preload could be introduced. Change in linear modal parameters as well as the change in nonlinear nature of the response is examined. Trends in modal parameters are presented as a function of force amplitude, joint preload, and ambient gravity. An experimental study of the lateral slosh behavior of contained fluids is also presented. A comparison of the measured earth and space results identifies and highlights the effects of gravity on the linear and nonlinear slosh behavior of these fluids

Generalized Rate-Distortion Functions of Videos

Customers are consuming enormous digital videos every day via various kinds of video services through terrestrial, cable, and satellite communication systems or over-the-top Internet connections. To offer the best possible services using the limited capacity of video distribution systems, these video services desire precise understanding of the relationship between the perceptual quality of a video and its media attributes, for which we term it the GRD function. In this thesis, we focus on accurately estimating the generalized rate-distortion (GRD) function with a minimal number of measurement queries. We first explore the GRD behavior of compressed digital videos in a two-dimensional space of bitrate and resolution. Our analysis on real-world GRD data reveals that all GRD functions share similar regularities, but meanwhile exhibit considerable variations across different combinations of content and encoder types. Based on the analysis, we define the theoretical space of the GRD function, which not only constructs the groundwork of the form a GRD model should take, but also determines the constraints these functions must satisfy. We propose two computational GRD models. In the first model, we assume that the quality scores are precise, and develop a robust axial-monotonic Clough-Tocher (RAMCT) interpolation method to approximate the GRD function from a moderate number of measurements. In the second model, we show that the GRD function space is a convex set residing in a Hilbert space, and that a GRD function can be estimated by solving a projection problem onto the convex set. By analyzing GRD functions that arise in practice, we approximate the infinite-dimensional theoretical space by a low-dimensional one, based on which an empirical GRD model of few parameters is proposed. To further reduce the number of queries, we present a novel sampling scheme based on a probabilistic model and an information measure. The proposed sampling method generates a sequence of queries by minimizing the overall informativeness of the remaining samples. To evaluate the performance of the GRD estimation methods, we collect a large-scale database consisting of more than $4,000$ real-world GRD functions, namely the Waterloo generalized rate-distortion (Waterloo GRD) database. Extensive comparison experiments are carried out on the database. Superiority of the two proposed GRD models over state-of-the-art approaches are attested both quantitatively and visually. Meanwhile, it is also validated that the proposed sampling algorithm consistently reduces the number of queries needed by various GRD estimation algorithms. Finally, we show the broad application scope of the proposed GRD models by exemplifying three applications: rate-distortion curve prediction, per-title encoding profile generation, and video encoder comparison

Modeling and Optimization of Next-Generation Wireless Access Networks

The ultimate goal of the next generation access networks is to provide all network users, whether they are fixed or mobile, indoor or outdoor, with high data rate connectivity, while ensuring a high quality of service. In order to realize this ambitious goal, delay, jitter, error rate and packet loss should be minimized: a goal that can only be achieved through integrating different technologies, including passive optical networks, 4th generation wireless networks, and femtocells, among others. This thesis focuses on medium access control and physical layers of future networks. In this regard, the first part of this thesis discusses techniques to improve the end-to-end quality of service in hybrid optical-wireless networks. In these hybrid networks, users are connected to a wireless base station that relays their data to the core network through an optical connection. Hence, by integrating wireless and optical parts of these networks, a smart scheduler can predict the incoming traffic to the optical network. The prediction data generated herein is then used to propose a traffic-aware dynamic bandwidth assignment algorithm for reducing the end-to-end delay. The second part of this thesis addresses the challenging problem of interference management in a two-tier macrocell/femtocell network. A high quality, high speed connection for indoor users is ensured only if the network has a high signal to noise ratio. A requirement that can be fulfilled with using femtocells in cellular networks. However, since femtocells generate harmful interference to macrocell users in proximity of them, careful analysis and realistic models should be developed to manage the introduced interference. Thus, a realistic model for femtocell interference outside suburban houses is proposed and several performance measures, e.g., signal to interference and noise ratio and outage probability are derived mathematically for further analysis. The quality of service of cellular networks can be degraded by several factors. For example, in industrial environments, simultaneous fading and strong impulsive noise significantly deteriorate the error rate performance. In the third part of this thesis, a technique to improve the bit error rate of orthogonal frequency division multiplexing systems in industrial environments is presented. This system is the most widely used technology in next-generation networks, and is very susceptible to impulsive noise, especially in fading channels. Mathematical analysis proves that the proposed method can effectively mitigate the degradation caused by impulsive noise and significantly improve signal to interference and noise ratio and bit error rate, even in frequency-selective fading channels

Advanced Information Systems and Technologies

This book comprises the proceedings of the V International Scientific Conference "Advanced Information Systems and Technologies, AIST-2017". The proceeding papers cover issues related to system analysis and modeling, project management, information system engineering, intelligent data processing computer networking and telecomunications. They will be useful for students, graduate students, researchers who interested in computer science

Advanced Information Systems and Technologies

This book comprises the proceedings of the V International Scientific Conference "Advanced Information Systems and Technologies, AIST-2017". The proceeding papers cover issues related to system analysis and modeling, project management, information system engineering, intelligent data processing computer networking and telecomunications. They will be useful for students, graduate students, researchers who interested in computer science

Mathematical modelling ano optimization strategies for acoustic source localization in reverberant environments

La presente Tesis se centra en el uso de técnicas modernas de optimización y de procesamiento de audio para la localización precisa y robusta de personas dentro de un entorno reverberante dotado con agrupaciones (arrays) de micrófonos. En esta tesis se han estudiado diversos aspectos de la localización sonora, incluyendo el modelado, la algoritmia, así como el calibrado previo que permite usar los algoritmos de localización incluso cuando la geometría de los sensores (micrófonos) es desconocida a priori. Las técnicas existentes hasta ahora requerían de un número elevado de micrófonos para obtener una alta precisión en la localización. Sin embargo, durante esta tesis se ha desarrollado un nuevo método que permite una mejora de más del 30\% en la precisión de la localización con un número reducido de micrófonos. La reducción en el número de micrófonos es importante ya que se traduce directamente en una disminución drástica del coste y en un aumento de la versatilidad del sistema final. Adicionalmente, se ha realizado un estudio exhaustivo de los fenómenos que afectan al sistema de adquisición y procesado de la señal, con el objetivo de mejorar el modelo propuesto anteriormente. Dicho estudio profundiza en el conocimiento y modelado del filtrado PHAT (ampliamente utilizado en localización acústica) y de los aspectos que lo hacen especialmente adecuado para localización. Fruto del anterior estudio, y en colaboración con investigadores del instituto IDIAP (Suiza), se ha desarrollado un sistema de auto-calibración de las posiciones de los micrófonos a partir del ruido difuso presente en una sala en silencio. Esta aportación relacionada con los métodos previos basados en la coherencia. Sin embargo es capaz de reducir el ruido atendiendo a parámetros físicos previamente conocidos (distancia máxima entre los micrófonos). Gracias a ello se consigue una mejor precisión utilizando un menor tiempo de cómputo. El conocimiento de los efectos del filtro PHAT ha permitido crear un nuevo modelo que permite la representación 'sparse' del típico escenario de localización. Este tipo de representación se ha demostrado ser muy conveniente para localización, permitiendo un enfoque sencillo del caso en el que existen múltiples fuentes simultáneas. La última aportación de esta tesis, es el de la caracterización de las Matrices TDOA (Time difference of arrival -Diferencia de tiempos de llegada, en castellano-). Este tipo de matrices son especialmente útiles en audio pero no están limitadas a él. Además, este estudio transciende a la localización con sonido ya que propone métodos de reducción de ruido de las medias TDOA basados en una representación matricial 'low-rank', siendo útil, además de en localización, en técnicas tales como el beamforming o el autocalibrado