Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userMulti-sensor Joint Adaptive Birth Sampler for Labeled Random Finite Set Tracking
119
0
0.0
(
0
)
Ask ChatGPT about the research
No Arabic abstract
This paper provides a scalable, multi-sensor measurement adaptive track initiation technique for labeled random finite set filters. A naive construction of the multi-sensor measurement adaptive birth set leads to an exponential number of newborn components in the number of sensors. A truncation criterion is established for a multi-sensor measurement-generated labeled multi-Bernoulli random finite set that provably minimizes the L1-truncation error in the generalized labeled multi-Bernoulli posterior distribution. This criterion is used to construct a Gibbs sampler that produces a truncated measurement-generated labeled multi-Bernoulli birth distribution with quadratic complexity in the number of sensors. A closed form solution of the conditional sampling distribution assuming linear (or linearized) Gaussian likelihoods is provided, alongside an approximate solution using Monte Carlo importance sampling. Multiple simulation results are provided to verify the efficacy of the truncation criterion, as well as the reduction in complexity.
rate research
Read More
This paper proposes an online visual multi-object tracking algorithm using a top-down Bayesian formulation that seamlessly integrates state estimation, track management, clutter rejection, occlusion and mis-detection handling into a single recursion. This is achieved by modeling the multi-object state as labeled random finite set and using the Bayes recursion to propagate the multi-object filtering density forward in time. The proposed filter updates tracks with detections but switches to image data when mis-detection occurs, thereby exploiting the efficiency of detection data and the accuracy of image data. Furthermore the labeled random finite set framework enables the incorporation of prior knowledge that mis-detections of long tracks which occur in the middle of the scene are likely to be due to occlusions. Such prior knowledge can be exploited to improve occlusion handling, especially long occlusions that can lead to premature track termination in on-line multi-object tracking. Tracking performance are compared to state-of-the-art algorithms on well-known benchmark video datasets.
Determining the trajectories of cells and their lineages or ancestries in live-cell experiments are fundamental to the understanding of how cells behave and divide. This paper proposes novel online algorithms for jointly tracking and resolving lineages of an unknown and time-varying number of cells from time-lapse video data. Our approach involves modeling the cell ensemble as a labeled random finite set with labels representing cell identities and lineages. A spawning model is developed to take into account cell lineages and changes in cell appearance prior to division. We then derive analytic filters to propagate multi-object distributions that contain information on the current cell ensemble including their lineages. We also develop numerical implementations of the resulting multi-object filters. Experiments using simulation, synthetic cell migration video, and real time-lapse sequence, are presented to demonstrate the capability of the solutions.
Unmanned aerial vehicle (UAV) swarm has emerged as a promising novel paradigm to achieve better coverage and higher capacity for future wireless network by exploiting the more favorable line-of-sight (LoS) propagation. To reap the potential gains of UAV swarm, the remote control signal sent by ground control unit (GCU) is essential, whereas the control signal quality are susceptible in practice due to the effect of the adjacent channel interference (ACI) and the external interference (EI) from radiation sources distributed across the region. To tackle these challenges, this paper considers priority-aware resource coordination in a multi-UAV communication system, where multiple UAVs are controlled by a GCU to perform certain tasks with a pre-defined trajectory. Specifically, we maximize the minimum signal-to-interference-plus-noise ratio (SINR) among all the UAVs by jointly optimizing channel assignment and power allocation strategy under stringent resource availability constraints. According to the intensity of ACI, we consider the corresponding problem in two scenarios, i.e., Null-ACI and ACI systems. By virtue of the particular problem structure in Null-ACI case, we first recast the formulation into an equivalent yet more tractable form and obtain the global optimal solution via Hungarian algorithm. For general ACI systems, we develop an efficient iterative algorithm for its solution based on the smooth approximation and alternating optimization methods. Extensive simulation results demonstrate that the proposed algorithms can significantly enhance the minimum SINR among all the UAVs and adapt the allocation of communication resources to diverse mission priority.
This paper proposes a life-long adaptive path tracking policy learning method for autonomous vehicles that can self-evolve and self-adapt with multi-task knowledge. Firstly, the proposed method can learn a model-free control policy for path tracking directly from the historical driving experience, where the property of vehicle dynamics and corresponding control strategy can be learned simultaneously. Secondly, by utilizing the life-long learning method, the proposed method can learn the policy with task-incremental knowledge without encountering catastrophic forgetting. Thus, with continual multi-task knowledge learned, the policy can iteratively adapt to new tasks and improve its performance with knowledge from new tasks. Thirdly, a memory evaluation and updating method is applied to optimize memory structure for life-long learning which enables the policy to learn toward selected directions. Experiments are conducted using a high-fidelity vehicle dynamic model in a complex curvy road to evaluate the performance of the proposed method. Results show that the proposed method can effectively evolve with continual multi-task knowledge and adapt to the new environment, where the performance of the proposed method can also surpass two commonly used baseline methods after evolving.
In this paper, we focus on the problem of blind joint calibration of multiband transceivers and time-delay (TD) estimation of multipath channels. We show that this problem can be formulated as a particular case of covariance matching. Although this problem is severely ill-posed, prior information about radio-frequency chain distortions and multipath channel sparsity is used for regularization. This approach leads to a biconvex optimization problem, which is formulated as a rank-constrained linear system and solved by a simple group Lasso algorithm.Numerical experiments show that the proposed algorithm provides better calibration and higher resolution for TD estimation than current state-of-the-art methods.
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
