People tracking by cooperative fusion of RADAR and camera sensors

Accurate 3D tracking of objects from monocular camera poses challenges due to the loss of depth during projection. Although ranging by RADAR has proven effective in highway environments, people tracking remains beyond the capability of single sensor systems. In this paper, we propose a cooperative RADAR-camera fusion method for people tracking on the ground plane. Using average person height, joint detection likelihood is calculated by back-projecting detections from the camera onto the RADAR Range-Azimuth data. Peaks in the joint likelihood, representing candidate targets, are fed into a Particle Filter tracker. Depending on the association outcome, particles are updated using the associated detections (Tracking by Detection), or by sampling the raw likelihood itself (Tracking Before Detection). Utilizing the raw likelihood data has the advantage that lost targets are continuously tracked even if the camera or RADAR signal is below the detection threshold. We show that in single target, uncluttered environments, the proposed method entirely outperforms camera-only tracking. Experiments in a real-world urban environment also confirm that the cooperative fusion tracker produces significantly better estimates, even in difficult and ambiguous situations

End-to-End Tracking and Semantic Segmentation Using Recurrent Neural Networks

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an input stream of raw laser measurements in order to directly infer object locations, along with their identity in both visible and occluded areas. To achieve this we first train the network using unsupervised Deep Tracking, a recently proposed theoretical framework for end-to-end space occupancy prediction. We show that by learning to track on a large amount of unsupervised data, the network creates a rich internal representation of its environment which we in turn exploit through the principle of inductive transfer of knowledge to perform the task of it's semantic classification. As a result, we show that only a small amount of labelled data suffices to steer the network towards mastering this additional task. Furthermore we propose a novel recurrent neural network architecture specifically tailored to tracking and semantic classification in real-world robotics applications. We demonstrate the tracking and classification performance of the method on real-world data collected at a busy road junction. Our evaluation shows that the proposed end-to-end framework compares favourably to a state-of-the-art, model-free tracking solution and that it outperforms a conventional one-shot training scheme for semantic classification

Collaborative signal and information processing for target detection with heterogeneous sensor networks

In this paper, an approach for target detection and acquisition with heterogeneous sensor networks through strategic resource allocation and coordination is presented. Based on sensor management and collaborative signal and information processing, low-capacity low-cost sensors are strategically deployed to guide and cue scarce high performance sensors in the network to improve the data quality, with which the mission is eventually completed more efficiently with lower cost. We focus on the problem of designing such a network system in which issues of resource selection and allocation, system behaviour and capacity, target behaviour and patterns, the environment, and multiple constraints such as the cost must be addressed simultaneously. Simulation results offer significant insight into sensor selection and network operation, and demonstrate the great benefits introduced by guided search in an application of hunting down and capturing hostile vehicles on the battlefield

High impact activities in parks: best management practice and future research

Off-road driving, horseriding, rock climbing and similar activities can be lucrative for tour operators and important for local recreational groups, but contentious for management of national parks and protected areas, both because of safety and liability and because of potentially high environmental impacts. These include spreading weeds and pathogens, starting fires and crushing bird nests on beaches, amongst many others. In Australia as elsewhere, off-road vehicles and horses are allowed only in some places in some parks, and often only under permit. We have very little reliable scientific information to-date on just how serious these impacts may be, and on how well they might be managed through minimal-impact practices such as vehicle washdowns, stockfeed processing and seasonal closures. Such information can only be obtained through site specific ecological studies of the plants, animals and watercourses likely to be affected, differentiating tourism impacts from natural causes and fluctuations. This report examines management strategies for these activities worldwide and in Australia. Suggestions for best management practice and future research agendas are set

Adaptive primal-dual genetic algorithms in dynamic environments

This article is placed here with permission of IEEE - Copyright @ 2010 IEEERecently, there has been an increasing interest in applying genetic algorithms (GAs) in dynamic environments. Inspired by the complementary and dominance mechanisms in nature, a primal-dual GA (PDGA) has been proposed for dynamic optimization problems (DOPs). In this paper, an important operator in PDGA, i.e., the primal-dual mapping (PDM) scheme, is further investigated to improve the robustness and adaptability of PDGA in dynamic environments. In the improved scheme, two different probability-based PDM operators, where the mapping probability of each allele in the chromosome string is calculated through the statistical information of the distribution of alleles in the corresponding gene locus over the population, are effectively combined according to an adaptive Lamarckian learning mechanism. In addition, an adaptive dominant replacement scheme, which can probabilistically accept inferior chromosomes, is also introduced into the proposed algorithm to enhance the diversity level of the population. Experimental results on a series of dynamic problems generated from several stationary benchmark problems show that the proposed algorithm is a good optimizer for DOPs.This work was supported in part by the National Nature Science Foundation of China (NSFC) under Grant 70431003 and Grant 70671020, by the National Innovation Research Community Science Foundation of China under Grant 60521003, by the National Support Plan of China under Grant 2006BAH02A09, by the Engineering and Physical Sciences Research Council (EPSRC) of U.K. under Grant EP/E060722/1, and by the Hong Kong Polytechnic University Research Grants under Grant G-YH60