41,285 research outputs found
A Comprehensive Survey of Deep Learning in Remote Sensing: Theories, Tools and Challenges for the Community
In recent years, deep learning (DL), a re-branding of neural networks (NNs),
has risen to the top in numerous areas, namely computer vision (CV), speech
recognition, natural language processing, etc. Whereas remote sensing (RS)
possesses a number of unique challenges, primarily related to sensors and
applications, inevitably RS draws from many of the same theories as CV; e.g.,
statistics, fusion, and machine learning, to name a few. This means that the RS
community should be aware of, if not at the leading edge of, of advancements
like DL. Herein, we provide the most comprehensive survey of state-of-the-art
RS DL research. We also review recent new developments in the DL field that can
be used in DL for RS. Namely, we focus on theories, tools and challenges for
the RS community. Specifically, we focus on unsolved challenges and
opportunities as it relates to (i) inadequate data sets, (ii)
human-understandable solutions for modelling physical phenomena, (iii) Big
Data, (iv) non-traditional heterogeneous data sources, (v) DL architectures and
learning algorithms for spectral, spatial and temporal data, (vi) transfer
learning, (vii) an improved theoretical understanding of DL systems, (viii)
high barriers to entry, and (ix) training and optimizing the DL.Comment: 64 pages, 411 references. To appear in Journal of Applied Remote
Sensin
Pseudospectral Model Predictive Control under Partially Learned Dynamics
Trajectory optimization of a controlled dynamical system is an essential part
of autonomy, however many trajectory optimization techniques are limited by the
fidelity of the underlying parametric model. In the field of robotics, a lack
of model knowledge can be overcome with machine learning techniques, utilizing
measurements to build a dynamical model from the data. This paper aims to take
the middle ground between these two approaches by introducing a semi-parametric
representation of the underlying system dynamics. Our goal is to leverage the
considerable information contained in a traditional physics based model and
combine it with a data-driven, non-parametric regression technique known as a
Gaussian Process. Integrating this semi-parametric model with model predictive
pseudospectral control, we demonstrate this technique on both a cart pole and
quadrotor simulation with unmodeled damping and parametric error. In order to
manage parametric uncertainty, we introduce an algorithm that utilizes Sparse
Spectrum Gaussian Processes (SSGP) for online learning after each rollout. We
implement this online learning technique on a cart pole and quadrator, then
demonstrate the use of online learning and obstacle avoidance for the dubin
vehicle dynamics.Comment: Accepted but withdrawn from AIAA Scitech 201
Sparse Recovery from Combined Fusion Frame Measurements
Sparse representations have emerged as a powerful tool in signal and
information processing, culminated by the success of new acquisition and
processing techniques such as Compressed Sensing (CS). Fusion frames are very
rich new signal representation methods that use collections of subspaces
instead of vectors to represent signals. This work combines these exciting
fields to introduce a new sparsity model for fusion frames. Signals that are
sparse under the new model can be compressively sampled and uniquely
reconstructed in ways similar to sparse signals using standard CS. The
combination provides a promising new set of mathematical tools and signal
models useful in a variety of applications. With the new model, a sparse signal
has energy in very few of the subspaces of the fusion frame, although it does
not need to be sparse within each of the subspaces it occupies. This sparsity
model is captured using a mixed l1/l2 norm for fusion frames.
A signal sparse in a fusion frame can be sampled using very few random
projections and exactly reconstructed using a convex optimization that
minimizes this mixed l1/l2 norm. The provided sampling conditions generalize
coherence and RIP conditions used in standard CS theory. It is demonstrated
that they are sufficient to guarantee sparse recovery of any signal sparse in
our model. Moreover, a probabilistic analysis is provided using a stochastic
model on the sparse signal that shows that under very mild conditions the
probability of recovery failure decays exponentially with increasing dimension
of the subspaces
- …