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This paper develops a distributed sensor scheduling methodology that utilizes target classification decisions to govern the number of active sensors selected around the target in the deployment region. This approach utilizes a distributed supervisor on each sensor node to control the multi-modal operating state of the node. A distributed sensor selection method is proposed that dynamically adjusts...
Due to much imperfect detection performance of onboard sensors in dense driving scenarios, the accurate and explicit perception of surrounding objects for Advanced Driver Assistance Systems and Autonomous Driving is challenging. This paper proposes a novel detection-level fusion approach for multi-object perception in dense traffic environment based on evidence theory. In order to remove uninterested...
In this paper, we consider multi-sensor with non-overlapping radar field of view in the framework of labeled random finite sets (L-RFS). In this case, a target may be simultaneously observed by some of the sensors, or even none sensor. It is different from the existing assumption of all sensors with the same fields in tracking community. We first describe the field of view by modeling the detection...
This paper presents a solution to the problem of tracking multiple targets from multistatic Doppler measurements. To the best of our knowledge our solution is the first principled multitarget tracker for multistatic Doppler radar. The tracker is based on a closed form solution to the labeled multitarget Bayes filter, which can be implemented with linear complexity in the number of measurements. Numerical...
Exponential Mixture Densities (EMDs) is increasingly popular as a suboptimal distributed fusion technique that avoids calculating the common information between different nodes. However, there exists some concerns about the EMDs because it fuses the cluttered posterior density as a whole, which contains plenty of components of little physical significance. Thus, it becomes intractable and computation...
Military vehicles are important part to maintain territories of a country. Military vehicle is often equipped with a gun turret mounted on top of the vehicle. Traditionally, gun turret is operated manually by an operator sitting on the vehicle. With the advance of current robotic technology an automatic operation of gun turret is highly possible. Notable works on automatic gun turret tend to use features...
A different way to detect maneuvers in Kalman-filter-based target tracking is discussed. By examining the behavior of the Kalman gains, a target maneuver may be detected prior to the state change being detected. A first look at this approach is presented. The individual Kalman gains of the target tracking algorithm are monitored over time. Variations in the gains' behaviors such as zero crossings...
The paper is concerned with the target tracking in range-only wireless sensor networks (WSNs). To integrate the separated measurements from the WSN, a sequential fusion estimation method is presented in the sense of linear minimum mean squared error (LMMSE). Moreover, the un-scented transformation is used to implement the recursion of means and covariances, and this kind estimator is termed as sequential...
Tracking single or multiple maneuvering targets is an urgent need for defense. In order to meet the military requirement, we propose a modified clustering-based Rao-Blackwellized particle filter (CBRBPF) to track single or multiple maneuvering targets with observations received by single or multiple sensors. The modified RBPF is basing on the clustering-based data association method. We partition...
We present a novel joint detection and tracking algorithm using raw measurements, in a compressed sensing framework. The sparse vector representing the state space is directly reconstructed, which transforms the nonlinear estimation problem into a linear one through sparse representation. A number of significant grids are obtained based on the sparse vector, indicating the positions of multiple potential...
Tracking in high-dimensional state-space is particularly hard due to the curse of dimensionality. A way to mitigate the curse of dimensionality is the use of Sequential Hamiltonian Monte Carlo (SHMC). In this paper, we describe the exercise of tracking a single extended target using Integrated Processing based on SHMC. By way of an example, we show that this filter estimates all state variables of...
In three-dimensional space, the traditional algorithm of virtual force applies to continuous target tracking process is prone to problems of distraction and short time in keeping tracking of the target in the process of. This paper proposed a three-dimensional space deployment algorithm applies to continuous target tracking to solve these problems. The combine virtual force in this algorithm is generated...
Situational awareness is dependent on efficient spectrum use for data communication. In this paper, we describe spectrum band selection based on the target operations and localization. For wireless spectrum detection, given the system noise and signal information, the Neyman-Pearson based likelihood ratio test can provide the optimal detection performance under a certain probability of false alarms...
Unmanned aerial vehicles (UAVs) are rapidly increasing in popularity. Despite attempts at regulation, stopping small, Class 1 (typically hobby-grade) UAVs from entering protected or sensitive airspace is an unsolved problem. Many companies and researchers offer a piece of a solution, but as of this writing, there is no publicly available, feasible, end-to-end solution. Ultimately, what is needed is...
Purpose of the paper is to present a solution for the target height estimation problem for multi-frequency multi-static passive radar. Aim of the proposed estimation strategy is to provide 2D passive sensors, which measure only bistatic range and Doppler, with target height estimation capability via the simultaneous exploitation of multiple FM transmitters (88–108 MHz). Results achieved with simulated...
In polar region operations, drift ice positioning and tracking is useful for both scientific and safety reasons. Many sensors can be employed to generate detections of sea ice, such as satellite-carried Synthetic Aperture Radar (SAR) and, recently, imagery equipment carried by Unmanned Aerial Systems (UAS). Satellite-carried SAR has the advantage of being able to cover large areas and provide consistent...
Prior to the demonstration, several locusts will be trained on a target odor (eg. Hexanol), according to the protocol described in the appended paper. The demonstration setup (Fig 1) consists of a trained locust (free or restrained) enclosed in a transparent enclosure, an odor delivery system and a palp tracking system. The odor delivery system contains an air pump with two outputs. One of the outputs...
The use of magnetic resonance (MR) images for needle-based interventions offers several advantages over other types of imaging modalities (e.g., high tissue contrast and no radiation). However, MR-guided interventions face challenges related to electromagnetic compatibility of medical devices and real-time tracking of surgical instruments. This work presents a flexible needle steering system that...
We present a mixed-integer nonlinear programming (MINLP) formulation of a UAV path optimization problem, and attempt to find the global optimum solution. As objective functions in UAV path optimization problems tend to be non-convex, traditional optimization solvers (typically local solvers) are prone to local optima, which lead to severely sub-optimal controls. For the purpose of this study, we choose...
Asynchronous multi-sensor data fusion is a significant and practical problem in multi-airborne-platform combat system. In this paper, the low-altitude-period reentry vehicle (RV) tracking problem based on multi-airborne-platform is considered. We propose two fusion tracking algorithms for asynchronous observations of airborne infrared devices. The first one is based on the time registration policy,...
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