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This paper analytically characterizes optimal sensor placements for target localization and tracking in 2D and 3D. Three types of sensors are considered: bearing-only, range-only, and received-signal-strength. The optimal placement problems…
Recent works in multiple object tracking use sequence model to calculate the similarity score between the detections and the previous tracklets. However, the forced exposure to ground-truth in the training stage leads to the…
We consider a multi-object detection problem over a sensor network (SNET) with limited range multi-modal sensors. Limited range sensing environment arises in a sensing field prone to signal attenuation and path losses. The general problem…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
In this paper, we aim to design the optimal sensor collaboration strategy for the estimation of time-varying parameters, where collaboration refers to the act of sharing measurements with neighboring sensors prior to transmission to a…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
This paper presents a novel approach to improve the accuracy of tracking multiple objects in a static scene using a particle filter system by introducing a data association step, a state queue for the collection of tracked objects and…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Most modern multi-object tracking (MOT) systems follow the tracking-by-detection paradigm. It first localizes the objects of interest, then extracting their individual appearance features to make data association. The individual features,…
This paper presents an efficient sensor management approach for multi-target tracking in passive sensor networks. Compared with active sensor networks, passive sensor networks have larger uncertainty due to the nature of passive sensing.…
Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…
In this work, we are dedicated to multi-target active object tracking (AOT), where there are multiple targets as well as multiple cameras in the environment. The goal is maximize the overall target coverage of all cameras. Previous work…
Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving overall target tracking accuracy. The concept of normalized…
The performance of a camera network monitoring a set of targets depends crucially on the configuration of the cameras. In this paper, we investigate the reconfiguration strategy for the parameterized camera network model, with which the…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
In recent years, anchor-free object detection models combined with matching algorithms are used to achieve real-time muti-object tracking and also ensure high tracking accuracy. However, there are still great challenges in multi-object…
In this paper, sensor selection problems for target tracking in large sensor networks with linear equality or inequality constraints are considered. First, we derive an equivalent Kalman filter for sensor selection, i.e., generalized…
In this work, we study the target detection and tracking problem in mobile sensor networks, where the performance metrics of interest are probability of detection and tracking coverage, when the target can be stationary or mobile and its…
In this paper some modifications are proposed to optimize an algorithm of object tracking in wireless sensor network (WSN). The task under consideration is to control movement of a mobile sink, which has to reach a target in the shortest…