Improved Shape Parameter Estimation in K Clutter with Neural Networks and Deep Learning

The discrimination of the clutter interfering signal is a current problem in modern radars’ design, especially in coastal or offshore environments where the histogram of the background signal often displays heavy tails. The statistical characterization of this signal is very important for the cancellation of sea clutter, whose behavior obeys a K distribution according to the commonly accepted criterion. By using neural networks, the authors propose a new method for estimating the K shape parameter, demonstrating its superiority over the classic alternative based on the Method of Moments. Whereas both solutions have a similar performance when the entire range of possible values of the shape parameter is evaluated, the neuronal alternative achieves a much more accurate estimation for the lower Fig.s of the parameter. This is exactly the desired behavior because the best estimate occurs for the most aggressive states of sea clutter. The final design, reached by processing three different sets of computer generated K samples, used a total of nine neural networks whose contribution is synthesized in the final estimate, thus the solution can be interpreted as a deep learning approximation. The results are to be applied in the improvement of radar detectors, particularly for maintaining the operational false alarm probability close to the one conceived in the design

Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd

Object detection and 6D pose estimation in the crowd (scenes with multiple object instances, severe foreground occlusions and background distractors), has become an important problem in many rapidly evolving technological areas such as robotics and augmented reality. Single shot-based 6D pose estimators with manually designed features are still unable to tackle the above challenges, motivating the research towards unsupervised feature learning and next-best-view estimation. In this work, we present a complete framework for both single shot-based 6D object pose estimation and next-best-view prediction based on Hough Forests, the state of the art object pose estimator that performs classification and regression jointly. Rather than using manually designed features we a) propose an unsupervised feature learnt from depth-invariant patches using a Sparse Autoencoder and b) offer an extensive evaluation of various state of the art features. Furthermore, taking advantage of the clustering performed in the leaf nodes of Hough Forests, we learn to estimate the reduction of uncertainty in other views, formulating the problem of selecting the next-best-view. To further improve pose estimation, we propose an improved joint registration and hypotheses verification module as a final refinement step to reject false detections. We provide two additional challenging datasets inspired from realistic scenarios to extensively evaluate the state of the art and our framework. One is related to domestic environments and the other depicts a bin-picking scenario mostly found in industrial settings. We show that our framework significantly outperforms state of the art both on public and on our datasets.Comment: CVPR 2016 accepted paper, project page: http://www.iis.ee.ic.ac.uk/rkouskou/6D_NBV.htm