Approximate maximum likelihood estimation of two closely spaced sources

The performance of the majority of high resolution algorithms designed for either spectral analysis or Direction-of-Arrival (DoA) estimation drastically degrade when the amplitude sources are highly correlated or when the number of available snapshots is very small and possibly less than the number of sources. Under such circumstances, only Maximum Likelihood (ML) or ML-based techniques can still be effective. The main drawback of such optimal solutions lies in their high computational load. In this paper we propose a computationally efficient approximate ML estimator, in the case of two closely spaced signals, that can be used even in the single snapshot case. Our approach relies on Taylor series expansion of the projection onto the signal subspace and can be implemented through 1-D Fourier transforms. Its effectiveness is illustrated in complicated scenarios with very low sample support and possibly correlated sources, where it is shown to outperform conventional estimators

Computable lower bounds for deterministic parameter estimation

This paper is primarily tutorial in nature and presents a simple approach(norm minimization under linear constraints) for deriving computable lower bounds on the MSE of deterministic parameter estimators with a clear interpretation of the bounds. We also address the issue of lower bounds tightness in comparison with the MSE of ML estimators and their ability to predict the SNR threshold region. Last, as many practical estimation problems must be regarded as joint detection-estimation problems, we remind that the estimation performance must be conditional on detection performance, leading to the open problem of the fundamental limits of the joint detectionestimation performance

On the influence of detection tests on deterministic parameters estimation

In non-linear estimation problems three distinct regions of operation can be observed. In the asymptotic region, the Mean Square Error (MSE) of Maximum Likelihood Estimators (MLE) is small and, in many cases,close to the Cramer-Rao bound (CRB). In the a priory performance region where the number of independent snapshots and/or the SNR are very low, the MSE is close to that obtained from the prior knowledge about the problem. Between these two extremes, there is an additional transition region where MSE of estimators deteriorates with respect to CRB. The present paper provides exemples of improvement of MSE prediction by CRB, not only in the transition region but also in the a priori region, resulting from introduction of a detection step, which proves that this renement in MSE lower bounds derivation is worth investigating

Recursive linearly constrained minimum variance estimator in linear models with non-stationary constraints

In parameter estimation, it is common place to design a linearly constrained minimum variance estimator (LCMVE) to tackle the problem of estimating an unknown parameter vector in a linear regression model. So far, the LCMVE has been mainly studied in the context of stationary constraints in stationary or non-stationary environments, giving rise to well-established recursive adaptive implementations when multiple observations are available. In this communication, provided that the additive noise sequence is temporally uncorrelated, we determine the family of non-stationary constraints leading to LCMVEs which can be computed according to a predictor/corrector recursion similar to the Kalman Filter. A particularly noteworthy feature of the recursive formulation introduced is to be fully adaptive in the context of sequential estimation as it allows at each new observation to incorporate or not new constraints

Visual Servoing from Deep Neural Networks

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a single real-world image of the scene. A convolutional neural network is fine-tuned using this dataset to estimate the relative pose between two images of the same scene. The output of the network is then employed in a visual servoing control scheme. The method converges robustly even in difficult real-world settings with strong lighting variations and occlusions.A positioning error of less than one millimeter is obtained in experiments with a 6 DOF robot.Comment: fixed authors lis

Synthetic aperture radar demonstration kit for signal processing education

A Synthetic Aperture Radar scale model has been developed to improve signal processing teaching. Based on low frequency ultrasound transmission, it is a low cost demonstration kit. The overall software is directly running on Matlab® and allows easy and realtime modifications. This educational tool can be used to illuminate a scene using different waveforms, and then see the effects on the formed image. It can also be used in a more advanced way to test different signal processing in order to improve image focusing or to reduce computation burden

Lower bounds on the mean square error derived from mixture of linear and non-linear transformations of the unbiasness definition

International audienceIt is well known that in non-linear estimation problems the ML estimator exhibits a threshold effect, i.e. a rapid deterioration of estimation accuracy below a certain SNR or number of snapshots. This effect is caused by outliers and is not captured by standard tools such as the Cram´er-Rao bound (CRB). The search of the SNR threshold value can be achieved with the help of approximations of the Barankin bound (BB) proposed by many authors. These approximations result from a linear transformation (discrete or integral) of the uniform unbiasness constraint introduced by Barankin. Nevertheless, non-linear transformations can be used as well for some class of p.d.f. including the Gaussian case. The benefit is their combination with existing linear transformation to get tighter lower bounds improving the SNR threshold prediction

Approximate maximum likelihood direction of arrival estimation for two closely spaced sources

Abstract—Most high resolution direction of arrival (DoA) estimation algorithms exploit an eigen decomposition of the sample covariance matrix (SCM). However, their performance dramatically degrade in case of correlated sources or low number of snapshots. In contrast, the maximum likelihood (ML) DoA estimator is more robust to these drawbacks but suffers from a too expensive computational cost which can prevent its use in practice. In this paper, we propose an asymptotic simplification of the ML criterion in the case of two closely spaced sources. This approximated ML estimator can be implemented using only 1-D Fourier transforms. We show that this solution is as accurate as the exact ML one and outperforms all high-resolution techniques in case of correlated sources. This solution can also be used in the single snapshot case where very few algorithms are known to be effective

MSE lower bounds for deterministic parameter estimation

This paper presents a simple approach for deriving computable lower bounds on the MSE of deterministic parameter estimators with a clear interpretation of the bounds. We also address the issue of lower bounds tightness in comparison with the MSE of ML estimators and their ability to predict the SNR threshold region. Last, as many practical estimation problems must be regarded as joint detection-estimation problems, we remind that the estimation performance must be conditional on detection performance