91 research outputs found
Distributed Object Tracking Using a Cluster-Based Kalman Filter in Wireless Camera Networks
Local data aggregation is an effective means to save sensor node energy and prolong the lifespan of wireless sensor networks. However, when a sensor network is used to track moving objects, the task of local data aggregation in the network presents a new set of challenges, such as the necessity to estimate, usually in real time, the constantly changing state of the target based on information acquired by the nodes at different time instants. To address these issues, we propose a distributed object tracking system which employs a cluster-based Kalman filter in a network of wireless cameras. When a target is detected, cameras that can observe the same target interact with one another to form a cluster and elect a cluster head. Local measurements of the target acquired by members of the cluster are sent to the cluster head, which then estimates the target position via Kalman filtering and periodically transmits this information to a base station. The underlying clustering protocol allows the current state and uncertainty of the target position to be easily handed off among clusters as the object is being tracked. This allows Kalman filter-based object tracking to be carried out in a distributed manner. An extended Kalman filter is necessary since measurements acquired by the cameras are related to the actual position of the target by nonlinear transformations. In addition, in order to take into consideration the time uncertainty in the measurements acquired by the different cameras, it is necessary to introduce nonlinearity in the system dynamics. Our object tracking protocol requires the transmission of significantly fewer messages than a centralized tracker that naively transmits all of the local measurements to the base station. It is also more accurate than a decentralized tracker that employs linear interpolation for local data aggregation. Besides, the protocol is able to perform real-time estimation because our implementation takes into consideration the sparsit- - y of the matrices involved in the problem. The experimental results show that our distributed object tracking protocol is able to achieve tracking accuracy comparable to the centralized tracking method, while requiring a significantly smaller number of message transmissions in the network
Adaptive Target Recognition: A Case Study Involving Airport Baggage Screening
This work addresses the question whether it is possible to design a
computer-vision based automatic threat recognition (ATR) system so that it can
adapt to changing specifications of a threat without having to create a new ATR
each time. The changes in threat specifications, which may be warranted by
intelligence reports and world events, are typically regarding the physical
characteristics of what constitutes a threat: its material composition, its
shape, its method of concealment, etc. Here we present our design of an AATR
system (Adaptive ATR) that can adapt to changing specifications in materials
characterization (meaning density, as measured by its x-ray attenuation
coefficient), its mass, and its thickness. Our design uses a two-stage cascaded
approach, in which the first stage is characterized by a high recall rate over
the entire range of possibilities for the threat parameters that are allowed to
change. The purpose of the second stage is to then fine-tune the performance of
the overall system for the current threat specifications. The computational
effort for this fine-tuning for achieving a desired PD/PFA rate is far less
than what it would take to create a new classifier with the same overall
performance for the new set of threat specifications
RMPD - A Recursive Mid-Point Displacement Algorithm for Path Planning
Motivated by what is required for real-time path planning, the paper starts
out by presenting sRMPD, a new recursive "local" planner founded on the key
notion that, unless made necessary by an obstacle, there must be no deviation
from the shortest path between any two points, which would normally be a
straight line path in the configuration space. Subsequently, we increase the
power of sRMPD by using it as a "connect" subroutine call in a higher-level
sampling-based algorithm mRMPD that is inspired by multi-RRT. As a consequence,
mRMPD spawns a larger number of space exploring trees in regions of the
configuration space that are characterized by a higher density of obstacles.
The overall effect is a hybrid tree growing strategy with a trade-off between
random exploration as made possible by multi-RRT based logic and immediate
exploitation of opportunities to connect two states as made possible by sRMPD.
The mRMPD planner can be biased with regard to this trade-off for solving
different kinds of planning problems efficiently. Based on the test cases we
have run, our experiments show that mRMPD can reduce planning time by up to 80%
compared to basic RRT
Exploiting Spatial Code Proximity and Order for Improved Source Code Retrieval for Bug Localization
Abstract—Practically all Information Retrieval (IR) based approaches developed to date for automatic bug localization are based on the bag-of-words assumption that ignores any positional and ordering relationships between the terms in a query. In this paper we argue that bug reports are ill-served by this assumption since such reports frequently contain various types of structural information whose terms must obey certain positional and ordering constraints. It therefore stands to reason that the quality of retrieval for bug localization would improve if these constraints could be taken into account when searching for the most relevant files. In this paper, we demonstrate that such is indeed the case. We show how the well-known Markov Random Field (MRF) based retrieval framework can be used for taking into account the term-term proximity and ordering relationships in a query vis-a-vis the same relationships in the files of a source-code library to greatly improve the quality of retrieval of the most relevant source files. We have carried out our experimental evaluations on popular large software projects using over 4 thousand bug reports. The results we present demonstrate unequivocally that the new proposed approach is far superior to the widely used bag-of-words based approaches
Predictive Duty Cycle Adaptation for Wireless Camera Networks
Wireless sensor networks (WSN) typically employ dynamic duty cycle schemes to efficiently handle different patterns of communication traffic in the network. However, existing duty cycling approaches are not suitable for event-driven WSN, in particular, camera-based networks designed to track humans and objects. A characteristic feature of such networks is the spatially-correlated bursty traffic that occurs in the vicinity of potentially highly mobile objects. In this paper, we propose a concept of indirect sensing in the MAC layer of a wireless camera network and an active duty cycle adaptation scheme based on Kalman filter that continuously predicts and updates the location of the object that triggers bursty communication traffic in the network. This prediction allows the camera nodes to alter their communication protocol parameters prior to the actual increase in the communication traffic. Our simulations demonstrate that our active adaptation strategy outperforms TMAC not only in terms of energy efficiency and communication latency, but also in terms of TIBPEA, a QoS metric for event-driven WSN
Incorporating Season and Solar Specificity into Renderings made by a NeRF Architecture using Satellite Images
As a result of Shadow NeRF and Sat-NeRF, it is possible to take the solar
angle into account in a NeRF-based framework for rendering a scene from a novel
viewpoint using satellite images for training. Our work extends those
contributions and shows how one can make the renderings season-specific. Our
main challenge was creating a Neural Radiance Field (NeRF) that could render
seasonal features independently of viewing angle and solar angle while still
being able to render shadows. We teach our network to render seasonal features
by introducing one more input variable -- time of the year. However, the small
training datasets typical of satellite imagery can introduce ambiguities in
cases where shadows are present in the same location for every image of a
particular season. We add additional terms to the loss function to discourage
the network from using seasonal features for accounting for shadows. We show
the performance of our network on eight Areas of Interest containing images
captured by the Maxar WorldView-3 satellite. This evaluation includes tests
measuring the ability of our framework to accurately render novel views,
generate height maps, predict shadows, and specify seasonal features
independently from shadows. Our ablation studies justify the choices made for
network design parameters.Comment: 18 pages, 17 figures, 10 table
Self-Supervised One-Shot Learning for Automatic Segmentation of StyleGAN Images
We propose a framework for the automatic one-shot segmentation of synthetic
images generated by a StyleGAN. Our framework is based on the observation that
the multi-scale hidden features in the GAN generator hold useful semantic
information that can be utilized for automatic on-the-fly segmentation of the
generated images. Using these features, our framework learns to segment
synthetic images using a self-supervised contrastive clustering algorithm that
projects the hidden features into a compact space for per-pixel classification.
This contrastive learner is based on using a novel data augmentation strategy
and a pixel-wise swapped prediction loss that leads to faster learning of the
feature vectors for one-shot segmentation. We have tested our implementation on
five standard benchmarks to yield a segmentation performance that not only
outperforms the semi-supervised baselines by an average wIoU margin of 1.02 %
but also improves the inference speeds by a factor of 4.5. Finally, we also
show the results of using the proposed one-shot learner in implementing BagGAN,
a framework for producing annotated synthetic baggage X-ray scans for threat
detection. This framework was trained and tested on the PIDRay baggage
benchmark to yield a performance comparable to its baseline segmenter based on
manual annotations
Multi-View Face Recognition From Single RGBD Models of the Faces
This work takes important steps towards solving the following problem of current interest: Assuming that each individual in a population can be modeled by a single frontal RGBD face image, is it possible to carry out face recognition for such a population using multiple 2D images captured from arbitrary viewpoints? Although the general problem as stated above is extremely challenging, it encompasses subproblems that can be addressed today. The subproblems addressed in this work relate to: (1) Generating a large set of viewpoint dependent face images from a single RGBD frontal image for each individual; (2) using hierarchical approaches based on view-partitioned subspaces to represent the training data; and (3) based on these hierarchical approaches, using a weighted voting algorithm to integrate the evidence collected from multiple images of the same face as recorded from different viewpoints. We evaluate our methods on three datasets: a dataset of 10 people that we created and two publicly available datasets which include a total of 48 people. In addition to providing important insights into the nature of this problem, our results show that we are able to successfully recognize faces with accuracies of 95% or higher, outperforming existing state-of-the-art face recognition approaches based on deep convolutional neural networks
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