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Copyright and Reprint Permission: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923...
In urban environments GNSS code multipath errors can cause large positioning errors. Many existing approaches try to overcome these errors employing Kalman innovations or statistical tests for code and carrier similarity. In this paper a new multipath model for time-differential code measurement errors is found from measurement data. The data indicates that the stochastic code error of multipath-affected...
The improvement in Maritime Situational Awareness (MSA), or the capability of understanding events, circumstances and activities within and impacting the maritime environment, is nowadays of paramount importance for safety and security. Enhancing coverage of existing technologies such as Automatic Identification System (AIS) provides the possibility to integrate and enrich services and information...
In this work, a particle filter based integrated navigation system is designed and tested with real quadrotor systems. Conventionally, Kalman filter based algorithms is used for navigation systems which is highly non-linear. Kalman filter has significant assumptions such as linearity of system and measurement models and Gaussian distributions. This situation causes that Kalman filter does not work...
In a bistatic scenario, we consider the task of simultaneously estimating the positions of a non-cooperative transmitter and landmarks that reflect the transmitted signal, generating bistatic measurements at the receiver. Neither the position of the transmitter, nor the timing of transmissions are known to the receiver. With the use of the horizontal multi-path measurements caused by multiple reflection...
In this publication a two-step approach for resourceoptimal sensor scheduling in intelligence is presented. This approach has been developed in close cooperation with subjectmatter experts from the Intelligence, Surveillance, and Reconnaissance (ISR) domain. It constitutes the fundamental basis of a computer-aided assistance system for ISR management personal.
The paper deals with discrete-time event-triggered consensus on exponential families of probability distributions (including Gaussian, binomial, Poisson and many other distributions of interest) completely characterized by a finite-dimensional vector of so called natural parameters. It is first shown how such exponential families are closed under Kullback-Leibler fusion (average), and that the latter...
The cardinality balanced multi-target multi- Bernoulli (CB-MeMBer) filter has received a lot of attention as a good approximation to the ideal multi-target filter. Consequently, several schemes have been proposed in order to perform sensor management when a CB-MeMBer filter is used. Most of these criteria are computationally very expensive due to the nature of the CB-MeMBer filter and the integration...
A prime requirement for autonomous driving is a fast and reliable estimation of the motion state of dynamic objects in the ego-vehicle’s surroundings. An instantaneous approach for extended objects based on two Doppler radar sensors has recently been proposed. In this paper, that approach is augmented by prior knowledge of the object’s heading angle and rotation center. These properties can be determined...
It is a well-known fact that the distribution of the Bayes posterior point process is given by a ratio of functional derivatives (with respect to the Dirac delta) of a joint targetmeasurement probability generating functional. In the literature, functional derivatives with respect to the Dirac delta are often described as a heuristic. In this paper an existing definition of the functional derivative...
The analysis of human sperm as part of infertility investigations or assisted conception treatments is a labor intensive process reliant upon the skill of the observer and as such prone to human error. Therefore, there is a need to develop automated systems that can adequately assess the concentration, motility and morphology of live sperm. This paper presents an algorithm for analyzing the morphology...
In this article a Bayesian filter approximation is proposed for simultaneous multiple target detection and tracking and then applied for object detection on video from moving camera. The inference uses the evidence lower bound optimisation for Gaussian mixtures. The proposed filter is capable of real time data processing and may be used as a basis for data fusion. The method we propose was tested...
We propose a novel sampling algorithm for the von Mises–Fisher distribution on the unit hypersphere. Unlike previous works, we show a solution for an arbitrary number of dimensions without requiring rejection sampling. As a result, the proposed algorithm has a deterministic runtime. The key idea consists in applying the inversion method to a one-dimensional subproblem and analytically calculating...
Video analytics requires operating with large amounts of data. Compressive sensing allows to reduce the number of measurements required to represent the video using the prior knowledge of sparsity of the original signal, but it imposes certain conditions on the design matrix. The Bayesian compressive sensing approach relaxes the limitations of the conventional approach using the probabilistic reasoning...
This paper studies the problem of tracking with wireless sensor networks (WSNs) using received signal strength (RSS) measurements. The log-normal shadowing associated with RSS measurements from a mobile terminal is correlated both in space and time. We propose a particle filter that exploits the temporal and spatial correlation and estimates the covariance matrix of the measurement noise using the...
Tracking of multiple objects via particle filtering faces the difficulty of dealing effectively with high dimensional state spaces. One efficient solution consists of integrating Markov chain Monte Carlo (MCMC) sampling at the core of the particle filter. To accomplish such integration, a few different approaches have been proposed in the literature during the last decade. In this paper, we introduce...
With increasing numbers of air traffic, and new kinds of air traffic emerging, new strategies are being developed in air traffic management to guarantee the safety of air traffic. Decision support tools in operation today barely extend beyond safety net features providing last-minute alerts for evasive actions. Tools with a greater time horizon to facilitate timely and gentle corrective action are...
We consider the task of recursively estimating the pose and shape parameters of 3D objects based on noisy point cloud measurements from their surface. We focus on objects whose surface can be constructed by transforming a plane curve, such as a cylinder that is constructed by extruding a circle. However, designing estimators for such objects is challenging, as the straightforward distance-minimizing...
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