Visual / acoustic detection and localisation in embedded systems

©Cranfield UniversityThe continuous miniaturisation of sensing and processing technologies is increasingly offering a variety of embedded platforms, enabling the accomplishment of a broad range of tasks using such systems. Motivated by these advances, this thesis investigates embedded detection and localisation solutions using vision and acoustic sensors. Focus is particularly placed on surveillance applications using sensor networks. Existing vision-based detection solutions for embedded systems suffer from the sensitivity to environmental conditions. In the literature, there seems to be no algorithm able to simultaneously tackle all the challenges inherent to real-world videos. Regarding the acoustic modality, many research works have investigated acoustic source localisation solutions in distributed sensor networks. Nevertheless, it is still a challenging task to develop an ecient algorithm that deals with the experimental issues, to approach the performance required by these systems and to perform the data processing in a distributed and robust manner. The movement of scene objects is generally accompanied with sound emissions with features that vary from an environment to another. Therefore, considering the combination of the visual and acoustic modalities would offer a significant opportunity for improving the detection and/or localisation using the described platforms. In the light of the described framework, we investigate in the first part of the thesis the use of a cost-effective visual based method that can deal robustly with the issue of motion detection in static, dynamic and moving background conditions. For motion detection in static and dynamic backgrounds, we present the development and the performance analysis of a spatio- temporal form of the Gaussian mixture model. On the other hand, the problem of motion detection in moving backgrounds is addressed by accounting for registration errors in the captured images. By adopting a robust optimisation technique that takes into account the uncertainty about the visual measurements, we show that high detection accuracy can be achieved. In the second part of this thesis, we investigate solutions to the problem of acoustic source localisation using a trust region based optimisation technique. The proposed method shows an overall higher accuracy and convergence improvement compared to a linear-search based method. More importantly, we show that through characterising the errors in measurements, which is a common problem for such platforms, higher accuracy in the localisation can be attained. The last part of this work studies the different possibilities of combining visual and acoustic information in a distributed sensors network. In this context, we first propose to include the acoustic information in the visual model. The obtained new augmented model provides promising improvements in the detection and localisation processes. The second investigated solution consists in the fusion of the measurements coming from the different sensors. An evaluation of the accuracy of localisation and tracking using a centralised/decentralised architecture is conducted in various scenarios and experimental conditions. Results have shown the capability of this fusion approach to yield higher accuracy in the localisation and tracking of an active acoustic source than by using a single type of data

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Modulated generalized ellipsometry

We extend ellipsometry to the direct measurement of small perturbations of the Jones matrix of any linear nondepolarizing optical sample (system) subjected to a modulating stimulus such as temperature, stress, or electric or magnetic field. The methodology of this technique, to be called Modulated Generalized Ellipsometry (MGE), is presented. First an ellipsometer with arbitrary polarizing and analyzing optics is assumed, and subsequently the discussion is specialized to a conventional ellipsometer having either the polarizer-sample-analyzer (PSA) or the polarizer-compensator-sample-analyzer (PCSA) arrangement. MGE provides the tool for the systematic study of thermo-optical, piezo-optical, electro-optical, magneto-optical, and other allied effects for both isotropic and anisotropic materials that may be examined in either transmission or reflection. MGE is also applicable to (1) modulation spectroscopy of anisotropic media, (2) the study of electrochemical reactions on optically anisotropic electrodes, and (3) the extension of AIDER (angle-of-incidence-derivative ellipsometry and reflectometry) to the determination of the optical properties of anisotropic film-substrate systems

Reflection of an electromagnetic plane wave with 0 or π phase shift at the surface of an absorbing medium

An electromagnetic plane wave incident obliquely from a transparent medium onto the surface of an absorbing medium can be reflected with 0 or π phase shift if (i) the wave is p (TM) polarized, and (ii) the complex relative dielectric function ε is such that 0 ≤|ε| 2/2Re(ε) ≤ 1. Furthermore, the locus of ε such that the reflection coefficient for the p polarization is real at the same angle of incidence, is a circle, and that of ε½ (the complex relative refractive index) is Bernoulli’s lemniscate

Thin-film beam splitter that reflects light as a half-wave retarder and transmits it without change of polarization: application to a Michelson interferometer

The refractive index n1 of a transparent layer of quarter-wave optical thickness coating a transparent substrate of refractive index n2 can be chosen to produce half-wave retardation (HWR) in reflection and no change of polarization in refraction at any angle of incidence ø. The function n1(ø, n2), and the associated polarization-independent reflectance of the film-substrate system R(ø, n2) are determined. Such a coated surface can be used as a beam splitter with excellent characteristics (e.g., split fractions that do not depend on source polarization, a split beam whose polarization is identical to that of the incident beam and operation over a wide range of incidence angles). A concrete example of a coated Ge-slab beam splitter for 10.6-µm radiation at ø = 45° is given. The beam-splitter face of the slab is coated with the HWR layer, and the exit face is coated with a double layer that produces total refraction without change of polarization. Such a beam splitter is tolerant to film-thickness errors and is reasonably achromatic over a small (e.g., 10–11-µm) wavelength range. When used in a Michelson interferometer this beam splitter renders its operation totally independent of source polarization

Single-layer antireflection coatings on absorbing substrates for the parallel and perpendicular polarizations at oblique incidence

Explicit equations are derived that determine the refractive index of a single layer that suppresses the reflection of p- or s-polarized light from the planar interface between a transparent and an absorbing medium at any given angle of incidence. The required layer thickness and the system reflectance for the orthogonal unextinguished polarization also follow explicitly. This generalizes earlier work that was limited to normal incidence or to oblique incidence at dielectric—dielectric interfaces. Specific examples are given of p- and s-antireflection layers on Si and Al substrates at λ = 6328 Å at various angles of incidence

Propagation of partially polarized light through anisotropic media with or without depolarization: A differential 4 × 4 matrix calculus

We extend the scope of the Mueller calculus to parallel that established by Jones for his calculus. We find that the Stokes vector S of a light beam that propagates through a linear depolarizing anisotropic medium obeys the first-order linear differential equation dS/dz = mS, where z is the distance traveled along the direction of propagation and m is a 4 × 4 real matrix that summarizes the optical properties of the medium which influence the Stokes vector. We determine the differential matrix m for eight basic types of optical behavior, find its form for the most general anisotropic nondepolarizing medium, and determine its relationship to the complex 2 × 2 differential Jones matrix. We solve the Stokes-vector differential equation for light propagation in homogeneous nondepolarizating media with arbitrary absorptive and refractive anisotropy. In the process, we solve the differential-matrix and Mueller-matrix eigenvalue equations. To illustrate the case of inhomogeneous anisotropic media, we consider the propagation of partially polarized light along the helical axis of a cholesteric or twisted-nematic liquid crystal. As an example of depolarizing media, we consider light propagation through a medium that tends to equalize the preference of the state of polarization to the right and left circular states

Simple and direct determination of complex refractive index and thickness of unsupported or embedded thin films by combined reflection and transmission ellipsometry at 45° angle of incidence

Measurements of the polarization states (represented by complex numbers Xr and Xt, respectively) of light reflected and transmitted by an unsupported or embedded thin film, for totally polarized light (with nonzero p and s components) incident at 45°, permit simple, direct, and explicit determination of the film\u27s complex refractive index N1 independently of film thickness or input polarization. If α = Xr/Xt, we find that α = rs + rs-1, where rs is Fresnel’s complex reflection coefficient of the ambient-film interface for the s polarization at 45° incidence. From α, rs is determined, and from rs we get N1 = N0(1 + rs2)1/2/(1 + rs), where N0 is the refractive index of the transparent medium surrounding the film. Knowledge of the incident polarization Xi allows the film thickness to be determined, also explicitly, by using either of the ratios Xi/Xr or Xi/Xt