14,954 research outputs found
Self-Selective Correlation Ship Tracking Method for Smart Ocean System
In recent years, with the development of the marine industry, navigation
environment becomes more complicated. Some artificial intelligence
technologies, such as computer vision, can recognize, track and count the
sailing ships to ensure the maritime security and facilitates the management
for Smart Ocean System. Aiming at the scaling problem and boundary effect
problem of traditional correlation filtering methods, we propose a
self-selective correlation filtering method based on box regression (BRCF). The
proposed method mainly include: 1) A self-selective model with negative samples
mining method which effectively reduces the boundary effect in strengthening
the classification ability of classifier at the same time; 2) A bounding box
regression method combined with a key points matching method for the scale
prediction, leading to a fast and efficient calculation. The experimental
results show that the proposed method can effectively deal with the problem of
ship size changes and background interference. The success rates and precisions
were higher than Discriminative Scale Space Tracking (DSST) by over 8
percentage points on the marine traffic dataset of our laboratory. In terms of
processing speed, the proposed method is higher than DSST by nearly 22 Frames
Per Second (FPS)
Poisson multi-Bernoulli conjugate prior for multiple extended object filtering
This paper presents a Poisson multi-Bernoulli mixture (PMBM) conjugate prior
for multiple extended object filtering. A Poisson point process is used to
describe the existence of yet undetected targets, while a multi-Bernoulli
mixture describes the distribution of the targets that have been detected. The
prediction and update equations are presented for the standard transition
density and measurement likelihood. Both the prediction and the update preserve
the PMBM form of the density, and in this sense the PMBM density is a conjugate
prior. However, the unknown data associations lead to an intractably large
number of terms in the PMBM density, and approximations are necessary for
tractability. A gamma Gaussian inverse Wishart implementation is presented,
along with methods to handle the data association problem. A simulation study
shows that the extended target PMBM filter performs well in comparison to the
extended target d-GLMB and LMB filters. An experiment with Lidar data
illustrates the benefit of tracking both detected and undetected targets
Energy-Efficient Data Acquisition in Wireless Sensor Networks through Spatial Correlation
The application of Wireless Sensor Networks (WSNs) is restrained by their often-limited lifetime. A sensor node's lifetime is fundamentally linked to the volume of data that it senses, processes and reports. Spatial correlation between sensor nodes is an inherent phenomenon to WSNs, induced by redundant nodes which report duplicated information. In this paper, we report on the design of a distributed sampling scheme referred to as the 'Virtual Sampling Scheme' (VSS). This scheme is formed from two components: an algorithm for forming virtual clusters, and a distributed sampling method. VSS primarily utilizes redundancy of sensor nodes to get only a subset to sense the environment at any one time. Sensor nodes that are not sensing the environment are in a low-power sleep state, thus conserving energy. Furthermore, VSS balances the energy consumption amongst nodes by using a round robin method
A New Reduction Scheme for Gaussian Sum Filters
In many signal processing applications it is required to estimate the
unobservable state of a dynamic system from its noisy measurements. For linear
dynamic systems with Gaussian Mixture (GM) noise distributions, Gaussian Sum
Filters (GSF) provide the MMSE state estimate by tracking the GM posterior.
However, since the number of the clusters of the GM posterior grows
exponentially over time, suitable reduction schemes need to be used to maintain
the size of the bank in GSF. In this work we propose a low computational
complexity reduction scheme which uses an initial state estimation to find the
active noise clusters and removes all the others. Since the performance of our
proposed method relies on the accuracy of the initial state estimation, we also
propose five methods for finding this estimation. We provide simulation results
showing that with suitable choice of the initial state estimation (based on the
shape of the noise models), our proposed reduction scheme provides better state
estimations both in terms of accuracy and precision when compared with other
reduction methods
Hybrid Poisson and multi-Bernoulli filters
The probability hypothesis density (PHD) and multi-target multi-Bernoulli
(MeMBer) filters are two leading algorithms that have emerged from random
finite sets (RFS). In this paper we study a method which combines these two
approaches. Our work is motivated by a sister paper, which proves that the full
Bayes RFS filter naturally incorporates a Poisson component representing
targets that have never been detected, and a linear combination of
multi-Bernoulli components representing targets under track. Here we
demonstrate the benefit (in speed of track initiation) that maintenance of a
Poisson component of undetected targets provides. Subsequently, we propose a
method of recycling, which projects Bernoulli components with a low probability
of existence onto the Poisson component (as opposed to deleting them). We show
that this allows us to achieve similar tracking performance using a fraction of
the number of Bernoulli components (i.e., tracks).Comment: Submitted to 15th International Conference on Information Fusion
(2012
Distributed Bayesian Filtering using Logarithmic Opinion Pool for Dynamic Sensor Networks
The discrete-time Distributed Bayesian Filtering (DBF) algorithm is presented
for the problem of tracking a target dynamic model using a time-varying network
of heterogeneous sensing agents. In the DBF algorithm, the sensing agents
combine their normalized likelihood functions in a distributed manner using the
logarithmic opinion pool and the dynamic average consensus algorithm. We show
that each agent's estimated likelihood function globally exponentially
converges to an error ball centered on the joint likelihood function of the
centralized multi-sensor Bayesian filtering algorithm. We rigorously
characterize the convergence, stability, and robustness properties of the DBF
algorithm. Moreover, we provide an explicit bound on the time step size of the
DBF algorithm that depends on the time-scale of the target dynamics, the
desired convergence error bound, and the modeling and communication error
bounds. Furthermore, the DBF algorithm for linear-Gaussian models is cast into
a modified form of the Kalman information filter. The performance and robust
properties of the DBF algorithm are validated using numerical simulations
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