Radar-based Road User Classification and Novelty Detection with Recurrent Neural Network Ensembles

Radar-based road user classification is an important yet still challenging task towards autonomous driving applications. The resolution of conventional automotive radar sensors results in a sparse data representation which is tough to recover by subsequent signal processing. In this article, classifier ensembles originating from a one-vs-one binarization paradigm are enriched by one-vs-all correction classifiers. They are utilized to efficiently classify individual traffic participants and also identify hidden object classes which have not been presented to the classifiers during training. For each classifier of the ensemble an individual feature set is determined from a total set of 98 features. Thereby, the overall classification performance can be improved when compared to previous methods and, additionally, novel classes can be identified much more accurately. Furthermore, the proposed structure allows to give new insights in the importance of features for the recognition of individual classes which is crucial for the development of new algorithms and sensor requirements.Comment: 8 pages, 9 figures, accepted paper for 2019 IEEE Intelligent Vehicles Symposium (IV), Paris, France, June 201

Radar and RGB-depth sensors for fall detection: a review

This paper reviews recent works in the literature on the use of systems based on radar and RGB-Depth (RGB-D) sensors for fall detection, and discusses outstanding research challenges and trends related to this research field. Systems to detect reliably fall events and promptly alert carers and first responders have gained significant interest in the past few years in order to address the societal issue of an increasing number of elderly people living alone, with the associated risk of them falling and the consequences in terms of health treatments, reduced well-being, and costs. The interest in radar and RGB-D sensors is related to their capability to enable contactless and non-intrusive monitoring, which is an advantage for practical deployment and users’ acceptance and compliance, compared with other sensor technologies, such as video-cameras, or wearables. Furthermore, the possibility of combining and fusing information from The heterogeneous types of sensors is expected to improve the overall performance of practical fall detection systems. Researchers from different fields can benefit from multidisciplinary knowledge and awareness of the latest developments in radar and RGB-D sensors that this paper is discussing

Near-Surface Interface Detection for Coal Mining Applications Using Bispectral Features and GPR

The use of ground penetrating radar (GPR) for detecting the presence of near-surface interfaces is a scenario of special interest to the underground coal mining industry. The problem is difficult to solve in practice because the radar echo from the near-surface interface is often dominated by unwanted components such as antenna crosstalk and ringing, ground-bounce effects, clutter, and severe attenuation. These nuisance components are also highly sensitive to subtle variations in ground conditions, rendering the application of standard signal pre-processing techniques such as background subtraction largely ineffective in the unsupervised case. As a solution to this detection problem, we develop a novel pattern recognition-based algorithm which utilizes a neural network to classify features derived from the bispectrum of 1D early time radar data. The binary classifier is used to decide between two key cases, namely whether an interface is within, for example, 5 cm of the surface or not. This go/no-go detection capability is highly valuable for underground coal mining operations, such as longwall mining, where the need to leave a remnant coal section is essential for geological stability. The classifier was trained and tested using real GPR data with ground truth measurements. The real data was acquired from a testbed with coal-clay, coal-shale and shale-clay interfaces, which represents a test mine site. We show that, unlike traditional second order correlation based methods such as matched filtering which can fail even in known conditions, the new method reliably allows the detection of interfaces using GPR to be applied in the near-surface region. In this work, we are not addressing the problem of depth estimation, rather confining ourselves to detecting an interface within a particular depth range

Radar-based Feature Design and Multiclass Classification for Road User Recognition

The classification of individual traffic participants is a complex task, especially for challenging scenarios with multiple road users or under bad weather conditions. Radar sensors provide an - with respect to well established camera systems - orthogonal way of measuring such scenes. In order to gain accurate classification results, 50 different features are extracted from the measurement data and tested on their performance. From these features a suitable subset is chosen and passed to random forest and long short-term memory (LSTM) classifiers to obtain class predictions for the radar input. Moreover, it is shown why data imbalance is an inherent problem in automotive radar classification when the dataset is not sufficiently large. To overcome this issue, classifier binarization is used among other techniques in order to better account for underrepresented classes. A new method to couple the resulting probabilities is proposed and compared to others with great success. Final results show substantial improvements when compared to ordinary multiclass classificationComment: 8 pages, 6 figure