Self-Calibration Methods for Uncontrolled Environments in Sensor Networks: A Reference Survey

Growing progress in sensor technology has constantly expanded the number and range of low-cost, small, and portable sensors on the market, increasing the number and type of physical phenomena that can be measured with wirelessly connected sensors. Large-scale deployments of wireless sensor networks (WSN) involving hundreds or thousands of devices and limited budgets often constrain the choice of sensing hardware, which generally has reduced accuracy, precision, and reliability. Therefore, it is challenging to achieve good data quality and maintain error-free measurements during the whole system lifetime. Self-calibration or recalibration in ad hoc sensor networks to preserve data quality is essential, yet challenging, for several reasons, such as the existence of random noise and the absence of suitable general models. Calibration performed in the field, without accurate and controlled instrumentation, is said to be in an uncontrolled environment. This paper provides current and fundamental self-calibration approaches and models for wireless sensor networks in uncontrolled environments

Signal Recovery in Perturbed Fourier Compressed Sensing

In many applications in compressed sensing, the measurement matrix is a Fourier matrix, i.e., it measures the Fourier transform of the underlying signal at some specified `base' frequencies $\{u_i\}_{i=1}^M$, where $M$ is the number of measurements. However due to system calibration errors, the system may measure the Fourier transform at frequencies $\{u_i + \delta_i\}_{i=1}^M$ that are different from the base frequencies and where $\{\delta_i\}_{i=1}^M$ are unknown. Ignoring perturbations of this nature can lead to major errors in signal recovery. In this paper, we present a simple but effective alternating minimization algorithm to recover the perturbations in the frequencies \emph{in situ} with the signal, which we assume is sparse or compressible in some known basis. In many cases, the perturbations $\{\delta_i\}_{i=1}^M$ can be expressed in terms of a small number of unique parameters $P \ll M$. We demonstrate that in such cases, the method leads to excellent quality results that are several times better than baseline algorithms (which are based on existing off-grid methods in the recent literature on direction of arrival (DOA) estimation, modified to suit the computational problem in this paper). Our results are also robust to noise in the measurement values. We also provide theoretical results for (1) the convergence of our algorithm, and (2) the uniqueness of its solution under some restrictions.Comment: New theortical results about uniqueness and convergence now included. More challenging experiments now include

The First Stray Light Corrected EUV Images of Solar Coronal Holes

Coronal holes are the source regions of the fast solar wind, which fills most of the solar system volume near the cycle minimum. Removing stray light from extreme ultraviolet (EUV) images of the Sun's corona is of high astrophysical importance, as it is required to make meaningful determinations of temperatures and densities of coronal holes. EUV images tend to be dominated by the component of the stray light due to the long-range scatter caused by microroughness of telescope mirror surfaces, and this component has proven very difficult to measure in pre-flight characterization. In-flight characterization heretofore has proven elusive due to the fact that the detected image is simultaneously nonlinear in two unknown functions: the stray light pattern and the true image which would be seen by an ideal telescope. Using a constrained blind deconvolution technique that takes advantage of known zeros in the true image provided by a fortuitous lunar transit, we have removed the stray light from solar images seen by the EUVI instrument on STEREO-B in all four filter bands (171, 195, 284, and 304 \AA). Uncertainty measures of the stray light corrected images, which include the systematic error due to misestimation of the scatter, are provided. It is shown that in EUVI, stray light contributes up to 70% of the emission in coronal holes seen on the solar disk, which has dramatic consequences for diagnostics of temperature and density and therefore estimates of key plasma parameters such as the plasma $\beta$\ and ion-electron collision rates.Comment: Accepted to Astrophysical Journal Letter

Imaging With Nature: Compressive Imaging Using a Multiply Scattering Medium

The recent theory of compressive sensing leverages upon the structure of signals to acquire them with much fewer measurements than was previously thought necessary, and certainly well below the traditional Nyquist-Shannon sampling rate. However, most implementations developed to take advantage of this framework revolve around controlling the measurements with carefully engineered material or acquisition sequences. Instead, we use the natural randomness of wave propagation through multiply scattering media as an optimal and instantaneous compressive imaging mechanism. Waves reflected from an object are detected after propagation through a well-characterized complex medium. Each local measurement thus contains global information about the object, yielding a purely analog compressive sensing method. We experimentally demonstrate the effectiveness of the proposed approach for optical imaging by using a 300-micrometer thick layer of white paint as the compressive imaging device. Scattering media are thus promising candidates for designing efficient and compact compressive imagers.Comment: 17 pages, 8 figure

Model-Based Calibration of Filter Imperfections in the Random Demodulator for Compressive Sensing

The random demodulator is a recent compressive sensing architecture providing efficient sub-Nyquist sampling of sparse band-limited signals. The compressive sensing paradigm requires an accurate model of the analog front-end to enable correct signal reconstruction in the digital domain. In practice, hardware devices such as filters deviate from their desired design behavior due to component variations. Existing reconstruction algorithms are sensitive to such deviations, which fall into the more general category of measurement matrix perturbations. This paper proposes a model-based technique that aims to calibrate filter model mismatches to facilitate improved signal reconstruction quality. The mismatch is considered to be an additive error in the discretized impulse response. We identify the error by sampling a known calibrating signal, enabling least-squares estimation of the impulse response error. The error estimate and the known system model are used to calibrate the measurement matrix. Numerical analysis demonstrates the effectiveness of the calibration method even for highly deviating low-pass filter responses. The proposed method performance is also compared to a state of the art method based on discrete Fourier transform trigonometric interpolation.Comment: 10 pages, 8 figures, submitted to IEEE Transactions on Signal Processin

Blind calibration for compressed sensing by convex optimization

We consider the problem of calibrating a compressed sensing measurement system under the assumption that the decalibration consists in unknown gains on each measure. We focus on {\em blind} calibration, using measures performed on a few unknown (but sparse) signals. A naive formulation of this blind calibration problem, using $\ell_{1}$ minimization, is reminiscent of blind source separation and dictionary learning, which are known to be highly non-convex and riddled with local minima. In the considered context, we show that in fact this formulation can be exactly expressed as a convex optimization problem, and can be solved using off-the-shelf algorithms. Numerical simulations demonstrate the effectiveness of the approach even for highly uncalibrated measures, when a sufficient number of (unknown, but sparse) calibrating signals is provided. We observe that the success/failure of the approach seems to obey sharp phase transitions

3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection

Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work in various weather conditions. They can be used for multiple purposes such as visual navigation and obstacle detection. We can use a surround multi-camera system to cover the full 360-degree field-of-view around the car. In this way, we avoid blind spots which can otherwise lead to accidents. To minimize the number of cameras needed for surround perception, we utilize fisheye cameras. Consequently, standard vision pipelines for 3D mapping, visual localization, obstacle detection, etc. need to be adapted to take full advantage of the availability of multiple cameras rather than treat each camera individually. In addition, processing of fisheye images has to be supported. In this paper, we describe the camera calibration and subsequent processing pipeline for multi-fisheye-camera systems developed as part of the V-Charge project. This project seeks to enable automated valet parking for self-driving cars. Our pipeline is able to precisely calibrate multi-camera systems, build sparse 3D maps for visual navigation, visually localize the car with respect to these maps, generate accurate dense maps, as well as detect obstacles based on real-time depth map extraction