559 research outputs found
Advances in Multi-Sensor Data Fusion: Algorithms and Applications
With the development of satellite and remote sensing techniques, more and more image data from airborne/satellite sensors have become available. Multi-sensor image fusion seeks to combine information from different images to obtain more inferences than can be derived from a single sensor. In image-based application fields, image fusion has emerged as a promising research area since the end of the last century. The paper presents an overview of recent advances in multi-sensor satellite image fusion. Firstly, the most popular existing fusion algorithms are introduced, with emphasis on their recent improvements. Advances in main applications fields in remote sensing, including object identification, classification, change detection and maneuvering targets tracking, are described. Both advantages and limitations of those applications are then discussed. Recommendations are addressed, including: (1) Improvements of fusion algorithms; (2) Development of “algorithm fusion” methods; (3) Establishment of an automatic quality assessment scheme
Partially Linear Estimation with Application to Sparse Signal Recovery From Measurement Pairs
We address the problem of estimating a random vector X from two sets of
measurements Y and Z, such that the estimator is linear in Y. We show that the
partially linear minimum mean squared error (PLMMSE) estimator does not require
knowing the joint distribution of X and Y in full, but rather only its
second-order moments. This renders it of potential interest in various
applications. We further show that the PLMMSE method is minimax-optimal among
all estimators that solely depend on the second-order statistics of X and Y. We
demonstrate our approach in the context of recovering a signal, which is sparse
in a unitary dictionary, from noisy observations of it and of a filtered
version of it. We show that in this setting PLMMSE estimation has a clear
computational advantage, while its performance is comparable to
state-of-the-art algorithms. We apply our approach both in static and dynamic
estimation applications. In the former category, we treat the problem of image
enhancement from blurred/noisy image pairs, where we show that PLMMSE
estimation performs only slightly worse than state-of-the art algorithms, while
running an order of magnitude faster. In the dynamic setting, we provide a
recursive implementation of the estimator and demonstrate its utility in the
context of tracking maneuvering targets from position and acceleration
measurements.Comment: 13 pages, 5 figure
Variance-constrained H∞ filtering for a class of nonlinear time-varying systems with multiple missing measurements: The finite-horizon case
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By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This paper is concerned with the robust H ∞ finite-horizon filtering problem for a class of uncertain nonlinear discrete time-varying stochastic systems with multiple missing measurements and error variance constraints. All the system parameters are time-varying and the uncertainty enters into the state matrix. The measurement missing phenomenon occurs in a random way, and the missing probability for each sensor is governed by an individual random variable satisfying a certain probabilistic distribution in the interval . The stochastic nonlinearities under consideration here are described by statistical means which can cover several classes of well-studied nonlinearities. Sufficient conditions are derived for a finite-horizon filter to satisfy both the estimation error variance constraints and the prescribed H ∞ performance requirement. These conditions are expressed in terms of the feasibility of a series of recursive linear matrix inequalities (RLMIs). Simulation results demonstrate the effectiveness of the developed filter design scheme.This work was supported in part by the Engineering and Physical Sciences Research Council (EPSRC) of the U.K. by Grant GR/S27658/01, the Royal Society of the U.K., National Natural Science Foundation of China by Grants 60825303 and 60834003, National 973 Project of China by Grant 2009CB320600, Fok Ying Tung Education Foundation by Grant
111064, the Youth Science Fund of Heilongjiang Province of China by Grant
QC2009C63, and by the Alexander von Humboldt Foundation of Germany
Nonlinear UGV Identification Methods via the Gaussian Process Regression Model for Control System Design
In this paper, two identification methods are proposed for a ground robotic system. A
Gaussian process regression (GPR) model is presented and adopted for a system identification framework. Its performance and features were compared with a wavelet-based nonlinear autoregressive
exogenous (NARX) model. Both algorithms were compared and experimentally validated for a small
ground robot. Moreover, data were collected throughout the onboard sensors. The results show better
prediction performance in the case of the GPR method, as an estimation algorithm and in providing a
measure of uncertainty
ISAR Autofocus Imaging Algorithm for Maneuvering Targets Based on Phase Retrieval and Gabor Wavelet Transform
The imaging issue of a rotating maneuvering target with a large angle and a high translational speed has been a challenging problem in the area of inverse synthetic aperture radar (ISAR) autofocus imaging, in particular when the target has both radial and angular accelerations. In this paper, on the basis of the phase retrieval algorithm and the Gabor wavelet transform (GWT), we propose a new method for phase error correction. The approach first performs the range compression on ISAR raw data to obtain range profiles, and then carries out the GWT transform as the time-frequency analysis tool for the rotational motion compensation (RMC) requirement. The time-varying terms, caused by rotational motion in the Doppler frequency shift, are able to be eliminated at the selected time frame. Furthermore, the processed backscattered signal is transformed to the one in the frequency domain while applying the phase retrieval to run the translational motion compensation (TMC). Phase retrieval plays an important role in range tracking, because the ISAR echo module is not affected by both radial velocity and the acceleration of the target. Finally, after the removal of both the rotational and translational motion errors, the time-invariant Doppler shift is generated, and radar returned signals from the same scatterer are always kept in the same range cell. Therefore, the unwanted motion effects can be removed by applying this approach to have an autofocused ISAR image of the maneuvering target. Furthermore, the method does not need to estimate any motion parameters of the maneuvering target, which has proven to be very effective for an ideal range–Doppler processing. Experimental and simulation results verify the feasibility of this approach
A recurrent emotional CMAC neural network controller for vision-based mobile robots
Vision-based mobile robots often suffer from the difficulties of high nonlinear dynamics and precise positioning requirements, which leads to the development demand of more powerful nonlinear approximation in controlling and monitoring of mobile robots. This paper proposes a recurrent emotional cerebellar model articulation controller (RECMAC) neural network in meeting such demand. In particular, the proposed network integrates a recurrent loop and an emotional learning mechanism into a cerebellar model articulation controller (CMAC), which is implemented as the main component of the controller module of a vision-based mobile robot. Briefly, the controller module consists of a sliding surface, the RECMAC, and a compensator controller. The incorporation of the recurrent structure in a slide model neural network controller ensures the retaining of the previous states of the robot to improve its dynamic mapping ability. The convergence of the proposed system is guaranteed by applying the Lyapunov stability analysis theory. The proposed system was validated and evaluated by both simulation and a practical moving-target tracking task. The experimentation demonstrated that the proposed system outperforms other popular neural network-based control systems, and thus it is superior in approximating highly nonlinear dynamics in controlling vision-based mobile robots
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