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Prior to committing personnel to investigate a building or suspicious site such as a cave, it is imperative to determine the importance and current danger of the site. To this end, sensors on a robotic platform can interrogate the site prior to sending in personnel. This paper investigates methods to exploit multiple sensor modalities in order to automatically 1) detect human presence, and 2) detect...
Tracking maneuvering targets presents a great challenge to airborne surveillance radar signal processing and sensor systems management systems. Smears caused by an uncompensated maneuver (either translational or rotational) affect target identification (ID) with distorted target images. An unexpected maneuver introduces large position estimation errors to a tracker and in the worst case loss of track...
This paper present a new distributed CFAR (constant false alarm rate) detector based on the adaptive censored cell-averaging CFAR technique. In the scheme, every local decision of individual detector, resulting from the comparison between its sample in test cell and the estimate of clutter power level of its reference samples, takes the value zero or one. In local processor, the CCA-CFAR (censored...
The PHD filter propagates a multitarget statistical first moment, the probability hypothesis density (PHD), in place of the full multitarget posterior distribution. It has been the basis of a systematic approach to multisensor, multitarget sensor management based on the posterior expected number of targets (PENT) objective function. The PHD filter has since been generalized to the cardinalized PHD...
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