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Construction spaces are constantly evolving, dynamic environments in need of continuous surveying, inspection, and assessment. Traditional manual inspection of such spaces proves to be an arduous and time-consuming activity. Automation…
Radar-based road user detection is an important topic in the context of autonomous driving applications. The resolution of conventional automotive radar sensors results in a sparse data representation which is tough to refine during…
The capability to detect objects is a core part of autonomous driving. Due to sensor noise and incomplete data, perfectly detecting and localizing every object is infeasible. Therefore, it is important for a detector to provide the amount…
Algorithms for mutual interference mitigation and object parameter estimation are a key enabler for automotive applications of frequency-modulated continuous wave (FMCW) radar. In this paper, we introduce a signal separation method to…
We consider a multi-object detection problem over a sensor network (SNET) with limited range sensors. This problem complements the widely considered decentralized detection problem where all sensors observe the same object. While the…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
The designation of the radar system is to detect the position and velocity of targets around us. The radar transmits a waveform, which is reflected back from the targets, and echo waveform is received. In a commonly used model, the echo is…
In this paper we establish a general first-order statistical framework for the detection of a common signal impinging on spatially distributed receivers. We consider three types of channel models: 1) the propagation channel is completely…
This paper deals with adaptive radar detection of a subspace signal competing with two sources of interference. The former is Gaussian with unknown covariance matrix and accounts for the joint presence of clutter plus thermal noise. The…
The new particle accelerators and its experiments create a challenging data processing environment, characterized by large amount of data where only small portion of it carry the expected new scientific information. Modern detectors, such…
- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions.…
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…
As radar sensors are being miniaturized, there is a growing interest for using them in indoor sensing applications such as indoor drone obstacle avoidance. In those novel scenarios, radars must perform well in dense scenes with a large…
The notion of concept drift refers to the phenomenon that the data generating distribution changes over time; as a consequence machine learning models may become inaccurate and need adjustment. In this paper we consider the problem of…
A robust and efficient anomaly detection technique is proposed, capable of dealing with crowded scenes where traditional tracking based approaches tend to fail. Initial foreground segmentation of the input frames confines the analysis to…
State of the art mapping algorithms can produce high-quality maps. However, they are still vulnerable to clutter and outliers which can affect map quality and in consequence hinder the performance of a robot, and further map processing for…
We present an algorithm for detecting and tracking underwater mobile objects using active acoustic transmission of broadband chirp signals whose reflections are received by a hydrophone array. The method overcomes the problem of high false…
Consider a target being tracked by a cognitive radar network. If the target can intercept noisy radar emissions, how can it detect coordination in the radar network? By 'coordination' we mean that the radar emissions satisfy Pareto…
Flexible road pavements deteriorate primarily due to traffic and adverse environmental conditions. Cracking is the most common deterioration mechanism; the surveying thereof is typically conducted manually using internationally defined…
The robust detection of small targets against cluttered background is important for future artificial visual systems in searching and tracking applications. The insects' visual systems have demonstrated excellent ability to avoid predators,…