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Aiming at the problem how to express relevant relationship between multiple targets, we propose an approach based on the tracking-by-detection (TBD) strategy, where detections from the HOG classifier are regarded as image evidence. Focusing on the issue of localization uncertainty, data association based on greedy heuristics is executed iteratively to retrieve from the erroneous candidate locations...
In this paper, we focus on the problem of parameter identification in a class of linear system, where system parameter (SP) is nonlinearly coupled in dynamic transition matrix (DTM), such as the well-known maneuvering target tracking with unknown turn rate. By regarding these elements nonlinearly parameterized by SP in DTM as a group of new multiplicative parameters (MP) linearly coupled with system...
This paper addresses the estimation of a time-varying parameter in a network. A group of agents sequentially receive noisy signals about the parameter (or moving target), which does not follow any particular dynamics. The parameter is not observable to an individual agent, but it is globally identifiable for the whole network. Viewing the problem with an online optimization lens, we aim to provide...
In this paper we introduce a new multilateration-based method for source localization. Sensors with known positions collect noisy signals whose strength depends on the relative position between the sensors and the source. A nonlinear system of equations is obtained which is then recast into a linearized least squares (LS) problem, which resembles a multilateration scenario. From the LS problem a low-complexity...
Target tracking is an essential part in automotive driver assistance systems. Most maneuvering target tracking algorithms are based on model, and an accurate model can enhance the tracking performance. Compared with constant velocity (CV) model, constant acceleration (CA) model and Singer model, the current statistical (CS) model matches well with the actual motion of target vehicle. But when a target...
In 2015 International UAV Innovation Grand Prix the competition, the cargo transport task is assumed as: there are 4 buckets placed in four circles on one moving platform. Firstly, the unmanned aerial vehicle (UAV) is required to identify circle targets and the black and white id marker near the circle on one moving platform, then the UAV chosen a target bucket, tracked and transported it to the other...
In this paper, we present a novel mobile target tracking filter that incorporates delayed measurements captured by a video camera onboard a flying platform, such as Unmanned Aerial Vehicles (UAVs). A curve-fitting-based technique is developed to characterize the system state information in the past. The coefficients are obtained and updated using an Extended Kalman Filter (EKF) based technique, which...
A method for cooperative estimation is proposed for use in multi-vehicle unmanned air systems with vision-based target tracking capabilities. The method first seeks to estimate the relative rotational and translational biases that exist between tracks from different vehicles. It then accounts for the biases and performs the track-to-track association, which determines if the tracks originate from...
This paper presents a new algorithm for unknown input estimation which is able to correct input estimation using new observations. This algorithm is based on extraction of more than one input from one observation in each sample time. These input provide a vector then these inputs are analysed and the final value of unknown input would be determined. The innovation of this algorithm is how to extract...
Indoor positioning has become an emerging research area because of huge commercial demands for location-based services in indoor environments. Channel State Information (CSI) as a fine-grained physical layer information has been recently proposed to achieve high positioning accuracy by using range-based methods, e.g., trilateration. In this work, we propose to fuse the CSI-based ranges and velocity...
We propose a two stage beamforming technique for localisation of moving target in a passive radar environment. In order to perform localization and tracking in Cartesian plane, in addition to detection in the range Doppler domain, it is necessary to have angle of arrival of target return, which is obtained using beamforming. The beamforming technique can also enhance signal to disturbance ratio. However,...
Multiple radar systems have shown significant advances in target tracking. Reasonable power allocation strategy can sufficiently utilize the limited power resources and in turn, improve the system tracking performance. However, towards the existing power allocation strategies, the system configuration is only restricted to the centralized architecture, and practical communication requirements and...
When using Bayesian estimation techniques for target tracking, the algorithm accuracy is induced by the choice of the system evolution model. Information on the type of target and its maneuver capability can then be helpful to choose relevant motion models. Joint tracking and classification (JTC) methods based on target features have thus been introduced. Among them, we recently proposed to take into...
In this study, a robot with different maneuvras is followed with different estimation algorithms. The mobile robot has acted first linear, then maneuver and finally linear again. It's speed is constant through the way. Standard Kalman Filter, Adaptive Kalman Filter, Extended Kalman Filter and Interacting Multiple Model consist of multiple model Kalman Filter combined of linear and non-linear model...
Along track interferometry (ATI) is a representative multi-channel synthetic aperture radar (SAR) / ground moving target indication (GMTI) technique. However, the estimated radial velocity of moving target can be ambiguous due to the interferometric phases are almost wrapped by the traditional two-antenna ATI method. In the paper, we propose a two-antenna SAR/ATI method with multiple carrier frequencies...
We demonstrate the ability of a passive radar system to monitor a large area of interest by applying advanced multipath clutter cancellation algorithm, spatial beamforming and tracking techniques. The mitigation of clutter disturbance and a two stage beamforming method facilitate real time tracking of small to moderate size targets in real Cartesian domain. The results have been validated through...
The paper is a follow-up to IRS 2015 submission “Multifunction C-Band Radar Development in Poland: Electronically Scanned Array Technology”. We briefly present various research, algorithms and results related to signal processing developed for Polish C-band radars.
A skywave over-the-horizon radar (OTHR) can detect and track aircraft or surface targets at ranges of 1000 to 3000 km by reflecting high frequency (HF) signals from the ionosphere. Coordinate registration (CR) is the process of registering OTHR tracks from radar to geographic coordinates. CR is often performed by ray-tracing through a real-time ionospheric model (RTIM). Opportunistic scatterers that...
In this paper we address the problem of tracking multiple AUVs using a single underwater sensor. Using for this challenging scenario, in addition to target detections, in every scan the sensor returns clutter measurements. Standard target tracking in clutter most often uses the present position measurements only. we propose to use a forward-backward Probability Hypothesis Density (PHD) smoother and...
In this paper, a novel algorithm is proposed for target tracking with distributed sensors by combining particle filtering based on the adaptive genetic algorithm and the fast covariance intersection algorithm. The adaptive genetic algorithm is applied in the resampling process to overcome the problem of particle deprivation in the particle filtering. In each genetic particle filter, the particles...
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