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Distributed image steganography (DIS) (Y.S. Wu et al., 2004) is a new method of concealing secret information in several host images, leaving smaller traces than conventional steganographic techniques, and requiring a collection of affected images for secret information retrieval. Fusion system designs of the future will require enhanced security measures for distributed data communication. DIS, compared...
Probabilistic multi-hypothesis tracking (PMHT) is an algorithm for tracking multiple targets when measurement-to- target assignments are unknown and must be jointly estimated with the target tracks. Multi-frame assignment PMHT (MF- PMHT) is an algorithm designed to mitigate some performance problems associated with PMHT. In MF-PMHT, the PMHT algorithm is applied to multi-frame sequences in the last...
We consider the problem of state estimation for a dynamic system driven by unobserved, correlated inputs. We model these inputs via an uncertain set of temporally correlated dynamic models, where this uncertainty includes the number of modes, their associated statistics, and the rate of mode transitions. The dynamic system is formulated via two interacting graphs: a hidden Markov model (HMM) and a...
Geolocation with three or more unmanned aerial vehicles (UAVs) based on time-difference-of-arrivals (TDOA) is possible but has implementation problems including UAV trajectory optimization, measurement association, and communication bandwidth limitations. The complexity of each of these problems is manageable with a simpler system of two netted UAVs that processes multiple TDOA measurements collected...
This paper considers the recursive estimation of emitter location using time difference of arrival measurements formed by the correlation of signals received by two unmanned aerial vehicles. The time difference of arrival measurement defines an hyperbola of possible emitter locations. This hyperbola is used as a measurement in a nonlinear Alter. The performance of two such filters, an extended Kalman...
This paper presents a methodology for the evaluation of a path planning algorithm based on a learning approach. Here this evaluation procedure is applied for the problem of optimizing the navigation of a mobile robot in a known environment. A metric map composed of landmarks representing natural elements is given to define the best trajectory which permits to guarantee a localization performance during...
Many problems involve joint decision and estimation, where qualities of decision and estimation affect each other. This paper proposes an integrated approach based on a new Bayes risk, which is a generalization of those for decision and estimation separately. Theoretical results of the optimal joint decision and estimation that minimizes the new Bayes risk are presented. The power of the new approach...
Vision-guided autonomous platforms require inertial stabilization of the imaging sensor. This is typically achieved by using a gimbaled system with inertial rate sensors, such as gyros. Using low-cost gyros requires estimation of their error parameters, such as bias and scale-factor. This paper presents a motion model-based method for robust estimation of these parameters via fusing the inertial measurements...
Tracking maneuvering targets is a difficult problem due to unpredictable maneuvers which change the target's state and/or dynamics. To ensure track accuracy a filter needs to model the target correctly and quickly respond to maneuvers. A new sequential filter is proposed which attempts to improve upon existing algorithms in several areas. A more flexible internal model is used to describe effects...
This paper presents a method for identifying dynamic models of autonomous underwater vehicles (AUV) from logged data and a physically motivated model structure. Such models are instrumental for model-based control system design, but also for integrated navigation systems. We motive our work from the perspective of developing second generation integrated navigation systems, which use a sensor fusion...
This contribution presents a unified framework for localization and tracking in sensor networks based on fusing a variety of signal energy measurements as provided by for instance acoustic, seismic, magnetic, radio, microwave and infrared sensors. The received energy from such sensors generally decays exponentially, and a log range model is introduced for the sensor observations in logarithmic scale,...
Many problems involve both decision and estimation where the performance of decision and estimation affects each other. They are usually solved by a two-stage strategy: decision-then-estimation or estimation-then-decision, which suffers from several serious drawbacks. A more integrated solution is preferred. Such an approach was proposed in X.R. Li (July 2007). It is based on a new Bayes risk as a...
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