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

Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page

Calculating and understanding the value of any type of match evidence when there are potential testing errors

It is well known that Bayes’ theorem (with likelihood ratios) can be used to calculate the impact of evidence, such as a ‘match’ of some feature of a person. Typically the feature of interest is the DNA profile, but the method applies in principle to any feature of a person or object, including not just DNA, fingerprints, or footprints, but also more basic features such as skin colour, height, hair colour or even name. Notwithstanding concerns about the extensiveness of databases of such features, a serious challenge to the use of Bayes in such legal contexts is that its standard formulaic representations are not readily understandable to non-statisticians. Attempts to get round this problem usually involve representations based around some variation of an event tree. While this approach works well in explaining the most trivial instance of Bayes’ theorem (involving a single hypothesis and a single piece of evidence) it does not scale up to realistic situations. In particular, even with a single piece of match evidence, if we wish to incorporate the possibility that there are potential errors (both false positives and false negatives) introduced at any stage in the investigative process, matters become very complex. As a result we have observed expert witnesses (in different areas of speciality) routinely ignore the possibility of errors when presenting their evidence. To counter this, we produce what we believe is the first full probabilistic solution of the simple case of generic match evidence incorporating both classes of testing errors. Unfortunately, the resultant event tree solution is too complex for intuitive comprehension. And, crucially, the event tree also fails to represent the causal information that underpins the argument. In contrast, we also present a simple-to-construct graphical Bayesian Network (BN) solution that automatically performs the calculations and may also be intuitively simpler to understand. Although there have been multiple previous applications of BNs for analysing forensic evidence—including very detailed models for the DNA matching problem, these models have not widely penetrated the expert witness community. Nor have they addressed the basic generic match problem incorporating the two types of testing error. Hence we believe our basic BN solution provides an important mechanism for convincing experts—and eventually the legal community—that it is possible to rigorously analyse and communicate the full impact of match evidence on a case, in the presence of possible error

On Robust Face Recognition via Sparse Encoding: the Good, the Bad, and the Ugly

In the field of face recognition, Sparse Representation (SR) has received considerable attention during the past few years. Most of the relevant literature focuses on holistic descriptors in closed-set identification applications. The underlying assumption in SR-based methods is that each class in the gallery has sufficient samples and the query lies on the subspace spanned by the gallery of the same class. Unfortunately, such assumption is easily violated in the more challenging face verification scenario, where an algorithm is required to determine if two faces (where one or both have not been seen before) belong to the same person. In this paper, we first discuss why previous attempts with SR might not be applicable to verification problems. We then propose an alternative approach to face verification via SR. Specifically, we propose to use explicit SR encoding on local image patches rather than the entire face. The obtained sparse signals are pooled via averaging to form multiple region descriptors, which are then concatenated to form an overall face descriptor. Due to the deliberate loss spatial relations within each region (caused by averaging), the resulting descriptor is robust to misalignment & various image deformations. Within the proposed framework, we evaluate several SR encoding techniques: l1-minimisation, Sparse Autoencoder Neural Network (SANN), and an implicit probabilistic technique based on Gaussian Mixture Models. Thorough experiments on AR, FERET, exYaleB, BANCA and ChokePoint datasets show that the proposed local SR approach obtains considerably better and more robust performance than several previous state-of-the-art holistic SR methods, in both verification and closed-set identification problems. The experiments also show that l1-minimisation based encoding has a considerably higher computational than the other techniques, but leads to higher recognition rates

Generation and Evaluation of Space-Time Trajectories of Photovoltaic Power

In the probabilistic energy forecasting literature, emphasis is mainly placed on deriving marginal predictive densities for which each random variable is dealt with individually. Such marginals description is sufficient for power systems related operational problems if and only if optimal decisions are to be made for each lead-time and each location independently of each other. However, many of these operational processes are temporally and spatially coupled, while uncertainty in photovoltaic (PV) generation is strongly dependent in time and in space. This issue is addressed here by analysing and capturing spatio-temporal dependencies in PV generation. Multivariate predictive distributions are modelled and space-time trajectories describing the potential evolution of forecast errors through successive lead-times and locations are generated. Discrimination ability of the relevant scoring rules on performance assessment of space-time trajectories of PV generation is also studied. Finally, the advantage of taking into account space-time correlations over probabilistic and point forecasts is investigated. The empirical investigation is based on the solar PV dataset of the Global Energy Forecasting Competition (GEFCom) 2014.Comment: 33 pages, 11 Figure

An improved spatiogram similarity measure for robust object localisation

Spatiograms were introduced as a generalisation of the commonly used histogram, providing the flexibility of adding spatial context information to the feature distribution information of a histogram. The originally proposed spatiogram comparison measure has significant disadvantages that we detail here. We propose an improved measure based on deriving the Bhattacharyya coefficient for an infinite number of spatial-feature bins. Its advantages over the previous measure and over histogram-based matching are demonstrated in object tracking scenarios

Landslide susceptibility mapping using multi-criteria evaluation techniques in Chittagong Metropolitan Area, Bangladesh

Landslides are a common hazard in the highly urbanized hilly areas in Chittagong Metropolitan Area (CMA), Bangladesh. The main cause of the landslides is torrential rain in short period of time. This area experiences several landslides each year, resulting in casualties, property damage, and economic loss. Therefore, the primary objective of this research is to produce the Landslide Susceptibility Maps for CMA so that appropriate landslide disaster risk reduction strategies can be developed. In this research, three different Geographic Information System-based Multi-Criteria Decision Analysis methods—the Artificial Hierarchy Process (AHP), Weighted Linear Combination (WLC), and Ordered Weighted Average (OWA)—were applied to scientifically assess the landslide susceptible areas in CMA. Nine different thematic layers or landslide causative factors were considered. Then, seven different landslide susceptible scenarios were generated based on the three weighted overlay techniques. Later, the performances of the methods were validated using the area under the relative operating characteristic curves. The accuracies of the landslide susceptibility maps produced by the AHP, WLC_1, WLC_2, WLC_3, OWA_1, OWA_2, and OWA_3 methods were found as 89.80, 83.90, 91.10, 88.50, 90.40, 95.10, and 87.10 %, respectively. The verification results showed satisfactory agreement between the susceptibility maps produced and the existing data on the 20 historical landslide locations