Dynamic Switching State Systems for Visual Tracking

This work addresses the problem of how to capture the dynamics of maneuvering objects for visual tracking. Towards this end, the perspective of recursive Bayesian filters and the perspective of deep learning approaches for state estimation are considered and their functional viewpoints are brought together

Dynamic Switching State Systems for Visual Tracking

This work addresses the problem of how to capture the dynamics of maneuvering objects for visual tracking. Towards this end, the perspective of recursive Bayesian filters and the perspective of deep learning approaches for state estimation are considered and their functional viewpoints are brought together

Dynamic Switching State Systems for Visual Tracking

This work addresses the problem of how to capture the dynamics of maneuvering objects for visual tracking. Towards this end, the perspective of recursive Bayesian filters and the perspective of deep learning approaches for state estimation are considered and their functional viewpoints are brought together

When Decision Meets Estimation: Theory and Applications

In many practical problems, both decision and estimation are involved. This dissertation intends to study the relationship between decision and estimation in these problems, so that more accurate inference methods can be developed. Hybrid estimation is an important formulation that deals with state estimation and model structure identification simultaneously. Multiple-model (MM) methods are the most widelyused tool for hybrid estimation. A novel approach to predict the Internet end-to-end delay using MM methods is proposed. Based on preliminary analysis of the collected end-to-end delay data, we propose an off-line model set design procedure using vector quantization (VQ) and short-term time series analysis so that MM methods can be applied to predict on-line measurement data. Experimental results show that the proposed MM predictor outperforms two widely used adaptive filters in terms of prediction accuracy and robustness. Although hybrid estimation can identify model structure, it mainly focuses on the estimation part. When decision and estimation are of (nearly) equal importance, a joint solution is preferred. By noticing the resemblance, a new Bayes risk is generalized from those of decision and estimation, respectively. Based on this generalized Bayes risk, a novel, integrated solution to decision and estimation is introduced. Our study tries to give a more systematic view on the joint decision and estimation (JDE) problem, which we believe the work in various fields, such as target tracking, communications, time series modeling, will benefit greatly from. We apply this integrated Bayes solution to joint target tracking and classification, a very important topic in target inference, with simplified measurement models. The results of this new approach are compared with two conventional strategies. At last, a surveillance testbed is being built for such purposes as algorithm development and performance evaluation. We try to use the testbed to bridge the gap between theory and practice. In the dissertation, an overview as well as the architecture of the testbed is given and one case study is presented. The testbed is capable to serve the tasks with decision and/or estimation aspects, and is helpful for the development of the JDE algorithms

When Decision Meets Estimation: Theory and Applications

In many practical problems, both decision and estimation are involved. This dissertation intends to study the relationship between decision and estimation in these problems, so that more accurate inference methods can be developed. Hybrid estimation is an important formulation that deals with state estimation and model structure identification simultaneously. Multiple-model (MM) methods are the most widelyused tool for hybrid estimation. A novel approach to predict the Internet end-to-end delay using MM methods is proposed. Based on preliminary analysis of the collected end-to-end delay data, we propose an off-line model set design procedure using vector quantization (VQ) and short-term time series analysis so that MM methods can be applied to predict on-line measurement data. Experimental results show that the proposed MM predictor outperforms two widely used adaptive filters in terms of prediction accuracy and robustness. Although hybrid estimation can identify model structure, it mainly focuses on the estimation part. When decision and estimation are of (nearly) equal importance, a joint solution is preferred. By noticing the resemblance, a new Bayes risk is generalized from those of decision and estimation, respectively. Based on this generalized Bayes risk, a novel, integrated solution to decision and estimation is introduced. Our study tries to give a more systematic view on the joint decision and estimation (JDE) problem, which we believe the work in various fields, such as target tracking, communications, time series modeling, will benefit greatly from. We apply this integrated Bayes solution to joint target tracking and classification, a very important topic in target inference, with simplified measurement models. The results of this new approach are compared with two conventional strategies. At last, a surveillance testbed is being built for such purposes as algorithm development and performance evaluation. We try to use the testbed to bridge the gap between theory and practice. In the dissertation, an overview as well as the architecture of the testbed is given and one case study is presented. The testbed is capable to serve the tasks with decision and/or estimation aspects, and is helpful for the development of the JDE algorithms

AN INFORMATION THEORETIC APPROACH TO INTERACTING MULTIPLE MODEL ESTIMATION FOR AUTONOMOUS UNDERWATER VEHICLES

Accurate and robust autonomous underwater navigation (AUV) requires the fundamental task of position estimation in a variety of conditions. Additionally, the U.S. Navy would prefer to have systems that are not dependent on external beacon systems such as global positioning system (GPS), since they are subject to jamming and spoofing and can reduce operational effectiveness. Current methodologies such as Terrain-Aided Navigation (TAN) use exteroceptive imaging sensors for building a local reference position estimate and will not be useful when those sensors are out of range. What is needed are multiple navigation filters where each can be more effective depending on the mission conditions. This thesis investigates how to combine multiple navigation filters to provide a more robust AUV position estimate. The solution presented is to blend two different filtering methodologies utilizing an interacting multiple model (IMM) estimation approach based on an information theoretic framework. The first filter is a model-based Extended Kalman Filter (EKF) that is effective under dead reckoning (DR) conditions. The second is a Particle Filter approach for Active Terrain Aided Navigation (ATAN) that is appropriate when in sensor range. Using data collected at Lake Crescent, Washington, each of the navigation filters are developed with results and then we demonstrate how an IMM information theoretic approach can be used to blend approaches to improve position and orientation estimation.Lieutenant, United States NavyApproved for public release. Distribution is unlimited

Discrete Time Systems

Discrete-Time Systems comprehend an important and broad research field. The consolidation of digital-based computational means in the present, pushes a technological tool into the field with a tremendous impact in areas like Control, Signal Processing, Communications, System Modelling and related Applications. This book attempts to give a scope in the wide area of Discrete-Time Systems. Their contents are grouped conveniently in sections according to significant areas, namely Filtering, Fixed and Adaptive Control Systems, Stability Problems and Miscellaneous Applications. We think that the contribution of the book enlarges the field of the Discrete-Time Systems with signification in the present state-of-the-art. Despite the vertiginous advance in the field, we also believe that the topics described here allow us also to look through some main tendencies in the next years in the research area