Simultaneous target state and passive sensors bias estimation

Most of the literature pertaining to target tracking assumes that the sensor data are corrupted by measurement noises that are zero mean (i.e., unbiased) and with known variances (accuracies). However in real tracking systems, measurements from sensors exhibit, typically, biases. For angle-only sensors, imperfect registration leads to Line Of Sight (LOS) measurement biases in azimuth and elevation. In this project we propose a new methodology that uses an exoatmospheric target of opportunity seen in a satellites borne sensor\u27s field of view to estimate the sensor\u27s biases simultaneously with the state of the target. The first step is to formulate a general bias model for synchronized optical sensors; then we use a Maximum Likelihood (ML) approach that leads to a nonlinear least-squares estimation problem for simultaneous estimation of the 3D Cartesian position and velocity components of the target of opportunity and the angle measurement biases of the sensors (two in the present study). Each satellite is equipped with an IR sensor that provides LOS measurements (azimuth and elevation) to the target. The measurements provided by these sensors are assumed to be noisy and biased but perfectly associated, i.e., it is known perfectly that they belong to the same target. The sensor bias and the target state estimates, obtained via Iterative Least Squares (ILS), are shown, by the simulation, to be unbiased

Quantum-inspired computational imaging

Computational imaging combines measurement and computational methods with the aim of forming images even when the measurement conditions are weak, few in number, or highly indirect. The recent surge in quantum-inspired imaging sensors, together with a new wave of algorithms allowing on-chip, scalable and robust data processing, has induced an increase of activity with notable results in the domain of low-light flux imaging and sensing. We provide an overview of the major challenges encountered in low-illumination (e.g., ultrafast) imaging and how these problems have recently been addressed for imaging applications in extreme conditions. These methods provide examples of the future imaging solutions to be developed, for which the best results are expected to arise from an efficient codesign of the sensors and data analysis tools.Y.A. acknowledges support from the UK Royal Academy of Engineering under the Research Fellowship Scheme (RF201617/16/31). S.McL. acknowledges financial support from the UK Engineering and Physical Sciences Research Council (grant EP/J015180/1). V.G. acknowledges support from the U.S. Defense Advanced Research Projects Agency (DARPA) InPho program through U.S. Army Research Office award W911NF-10-1-0404, the U.S. DARPA REVEAL program through contract HR0011-16-C-0030, and U.S. National Science Foundation through grants 1161413 and 1422034. A.H. acknowledges support from U.S. Army Research Office award W911NF-15-1-0479, U.S. Department of the Air Force grant FA8650-15-D-1845, and U.S. Department of Energy National Nuclear Security Administration grant DE-NA0002534. D.F. acknowledges financial support from the UK Engineering and Physical Sciences Research Council (grants EP/M006514/1 and EP/M01326X/1). (RF201617/16/31 - UK Royal Academy of Engineering; EP/J015180/1 - UK Engineering and Physical Sciences Research Council; EP/M006514/1 - UK Engineering and Physical Sciences Research Council; EP/M01326X/1 - UK Engineering and Physical Sciences Research Council; W911NF-10-1-0404 - U.S. Defense Advanced Research Projects Agency (DARPA) InPho program through U.S. Army Research Office; HR0011-16-C-0030 - U.S. DARPA REVEAL program; 1161413 - U.S. National Science Foundation; 1422034 - U.S. National Science Foundation; W911NF-15-1-0479 - U.S. Army Research Office; FA8650-15-D-1845 - U.S. Department of the Air Force; DE-NA0002534 - U.S. Department of Energy National Nuclear Security Administration)Accepted manuscrip

Belief Consensus Algorithms for Fast Distributed Target Tracking in Wireless Sensor Networks

In distributed target tracking for wireless sensor networks, agreement on the target state can be achieved by the construction and maintenance of a communication path, in order to exchange information regarding local likelihood functions. Such an approach lacks robustness to failures and is not easily applicable to ad-hoc networks. To address this, several methods have been proposed that allow agreement on the global likelihood through fully distributed belief consensus (BC) algorithms, operating on local likelihoods in distributed particle filtering (DPF). However, a unified comparison of the convergence speed and communication cost has not been performed. In this paper, we provide such a comparison and propose a novel BC algorithm based on belief propagation (BP). According to our study, DPF based on metropolis belief consensus (MBC) is the fastest in loopy graphs, while DPF based on BP consensus is the fastest in tree graphs. Moreover, we found that BC-based DPF methods have lower communication overhead than data flooding when the network is sufficiently sparse

Event-based Vision: A Survey

Event cameras are bio-inspired sensors that differ from conventional frame cameras: Instead of capturing images at a fixed rate, they asynchronously measure per-pixel brightness changes, and output a stream of events that encode the time, location and sign of the brightness changes. Event cameras offer attractive properties compared to traditional cameras: high temporal resolution (in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low power consumption, and high pixel bandwidth (on the order of kHz) resulting in reduced motion blur. Hence, event cameras have a large potential for robotics and computer vision in challenging scenarios for traditional cameras, such as low-latency, high speed, and high dynamic range. However, novel methods are required to process the unconventional output of these sensors in order to unlock their potential. This paper provides a comprehensive overview of the emerging field of event-based vision, with a focus on the applications and the algorithms developed to unlock the outstanding properties of event cameras. We present event cameras from their working principle, the actual sensors that are available and the tasks that they have been used for, from low-level vision (feature detection and tracking, optic flow, etc.) to high-level vision (reconstruction, segmentation, recognition). We also discuss the techniques developed to process events, including learning-based techniques, as well as specialized processors for these novel sensors, such as spiking neural networks. Additionally, we highlight the challenges that remain to be tackled and the opportunities that lie ahead in the search for a more efficient, bio-inspired way for machines to perceive and interact with the world

Combining computer game-based behavioural experiments with high-density EEG and infrared gaze tracking

Rigorous, quantitative examination of therapeutic techniques anecdotally reported to have been successful in people with autism who lack communicative speech will help guide basic science toward a more complete characterisation of the cognitive profile in this underserved subpopulation, and show the extent to which theories and results developed with the high-functioning subpopulation may apply. This study examines a novel therapy, the "Rapid Prompting Method" (RPM). RPM is a parent-developed communicative and educational therapy for persons with autism who do not speak or who have difficulty using speech communicatively.The technique aims to develop a means of interactive learning by pointing amongst multiple-choice options presented at different locations in space, with the aid of sensory "prompts" which evoke a response without cueing any specific response option. The prompts are meant to draw and to maintain attention to the communicative task–making the communicative and educational content coincident with the most physically salient, attention-capturing stimulus – and to extinguish the sensory–motor preoccupations with which the prompts compete.ideo-recorded RPM sessions with nine autistic children ages 8–14years who lacked functional communicative speech were coded for behaviours of interest