Multi-sensor data fusion for UAV navigation during landing operations

This paper presents a practical framework to synthesize multi-sensor navigation information for localization of a rotary-wing unmanned aerial vehicle (RUAV) and estimation of unknown ship positions when the RUAV approaches the landing deck. The estimation performance of the visual tracking sensor can also be improved through integrated navigation. Three different sensors (inertial navigation, Global Positioning System, and visual tracking sensor) are utilized complementarily to perform the navigation tasks for the purpose of an automatic landing. An extended Kalman filter (EKF) is developed to fuse data from various navigation sensors to provide the reliable navigation information. The performance of the fusion algorithm has been evaluated using real ship motion data. Simulation results suggest that the proposed method can be used to construct a practical navigation system for a UAV-ship landing system.

Automatic population HARDI white matter tract clustering by label fusion of multiple tract atlases

Automatic labeling of white matter fibres in diffusion-weighted brain MRI is vital for comparing brain integrity and connectivity across populations, but is challenging. Whole brain tractography generates a vast set of fibres throughout the brain, but it is hard to cluster them into anatomically meaningful tracts, due to wide individual variations in the trajectory and shape of white matter pathways. We propose a novel automatic tract labeling algorithm that fuses information from tractography and multiple hand-labeled fibre tract atlases. As streamline tractography can generate a large number of false positive fibres, we developed a top-down approach to extract tracts consistent with known anatomy, based on a distance metric to multiple hand-labeled atlases. Clustering results from different atlases were fused, using a multi-stage fusion scheme. Our "label fusion" method reliably extracted the major tracts from 105-gradient HARDI scans of 100 young normal adults. © 2012 Springer-Verlag.

A data fusion approach of multiple maintenance data sources for real-world reliability modelling

A central tenet in the theory of reliability modelling is the quantification of the probability of asset failure. In general, reliability depends on asset age and the maintenance policy applied. Usually, failure and maintenance times are the primary inputs to reliability models. However, for many organisations, different aspects of these data are often recorded in different databases (e.g. work order notifications, event logs, condition monitoring data, and process control data). These recorded data cannot be interpreted individually, since they typically do not have all the information necessary to ascertain failure and preventive maintenance times. This paper presents a methodology for the extraction of failure and preventive maintenance times using commonly-available, real-world data sources. A text-mining approach is employed to extract keywords indicative of the source of the maintenance event. Using these keywords, a Naïve Bayes classifier is then applied to attribute each machine stoppage to one of two classes: failure or preventive. The accuracy of the algorithm is assessed and the classified failure time data are then presented. The applicability of the methodology is demonstrated on a maintenance data set from an Australian electricity company.

Energy efficient change detection over a MAC using physical layer fusion

We propose a simple and energy efficient distributed change detection scheme for sensor networks based on Page's parametric CUSUM algorithm. The sensor observations are IID over time and across the sensors conditioned on the change variable. Each sensor runs CUSUM and transmits only when the CUSUM is above some threshold. The transmissions from the sensors are fused at the physical layer. The channel is modeled as a multiple access channel (MAC) corrupted with IID noise. The fusion center which is the global decision maker, performs another CUSUM to detect the change. We provide the analysis and simulation results for our scheme and compare the performance with an existing scheme which ensures energy efficiency via optimal power selection.

Data fusion and matching by maximizing statistical dependencies

The core aim of machine learning is to make a computer program learn from the experience. Learning from data is usually defined as a task of learning regularities or patterns in data in order to extract useful information, or to learn the underlying concept. An important sub-field of machine learning is called multi-view learning where the task is to learn from multiple data sets or views describing the same underlying concept. A typical example of such scenario would be to study a biological concept using several biological measurements like gene expression, protein expression and metabolic profiles, or to classify web pages based on their content and the contents of their hyperlinks. In this thesis, novel problem formulations and methods for multi-view learning are presented. The contributions include a linear data fusion approach during exploratory data analysis, a new measure to evaluate different kinds of representations for textual data, and an extension of multi-view learning for novel scenarios where the correspondence of samples in the different views or data sets is not known in advance. In order to infer the one-to-one correspondence of samples between two views, a novel concept of multi-view matching is proposed. The matching algorithm is completely data-driven and is demonstrated in several applications such as matching of metabolites between humans and mice, and matching of sentences between documents in two languages.

Pixel based fusion using IKONOS imagery

Pixel based image fusion entails combining geometric details of a high-resolution Panchromatic (PAN) image and spectral information of a low-resolution Multispectral (MS) image to produce images with highest spatial content while preserving the spectral information. This work reviews and implements six fusion techniques – À Trous algorithm based wavelet transform (ATW), Mulitresolution Analysis based Intensity Modulation, Gram Schmidt fusion, CN Spectral, Luminance Chrominance and High pass fusion (HPF) on IKONOS imagery having 1 m PAN and 4 m MS channels. Comparative performance analysis of techniques by various methods reveals that ATW followed by HPF perform best among all the techniques.

Performance evaluation of neural network algorithms for multisensor data fusion in an airborne track while scan radar

This paper deals with the solution to the problem of multisensor data fusion for a single target scenario as detected by an airborne track-while-scan radar. The details of a neural network implementation, various training algorithms based on standard backpropagation, and the results of training and testing the neural network are presented. The promising capabilities of RPROP algorithm for multisensor data fusion for various parameters are shown in comparison to other adaptive techniques

A novel algorithm for cooperative distributed sequential spectrum sensing in Cognitive Radio

This paper considers cooperative spectrum sensing in Cognitive Radios. In our previous work we have developed DualSPRT, a distributed algorithm for cooperative spectrum sensing using Sequential Probability Ratio Test (SPRT) at the Cognitive Radios as well as at the fusion center. This algorithm works well, but is not optimal. In this paper we propose an improved algorithm- SPRT-CSPRT, which is motivated from Cumulative Sum Procedures (CUSUM). We analyse it theoretically. We also modify this algorithm to handle uncertainties in SNR's and fading.

Data Fusion of Dual Foot-Mounted INS to Reduce the Systematic Heading Drift

In this report, we investigate the problem of applying a range constraint in order to reduce the systematic heading drift in a foot-mounted inertial navigation system (INS) (motion-tracking). We make use of two foot-mounted INS, one on each foot, which are aided with zero-velocity detectors. A novel algorithm is proposed in order to reduce the systematic heading drift. The proposed algorithm is based on the idea that the separation between the two feet at any given instance must always lie within a sphere of radius equal to the maximum possible spatial separation between the two feet. A Kalman filter, getting one measurement update and two observation updates is used in this algorithm.

Fusion of algorithms for compressed sensing

For compressed sensing (CS), we develop a new scheme inspired by data fusion principles. In the proposed fusion based scheme, several CS reconstruction algorithms participate and they are executed in parallel, independently. The final estimate of the underlying sparse signal is derived by fusing the estimates obtained from the participating algorithms. We theoretically analyze this fusion based scheme and derive sufficient conditions for achieving a better reconstruction performance than any participating algorithm. Through simulations, we show that the proposed scheme has two specific advantages: 1) it provides good performance in a low dimensional measurement regime, and 2) it can deal with different statistical natures of the underlying sparse signals. The experimental results on real ECG signals shows that the proposed scheme demands fewer CS measurements for an approximate sparse signal reconstruction.

FUSION OF ALGORITHMS FOR COMPRESSED SENSING

Numerous algorithms have been proposed recently for sparse signal recovery in Compressed Sensing (CS). In practice, the number of measurements can be very limited due to the nature of the problem and/or the underlying statistical distribution of the non-zero elements of the sparse signal may not be known a priori. It has been observed that the performance of any sparse signal recovery algorithm depends on these factors, which makes the selection of a suitable sparse recovery algorithm difficult. To take advantage in such situations, we propose to use a fusion framework using which we employ multiple sparse signal recovery algorithms and fuse their estimates to get a better estimate. Theoretical results justifying the performance improvement are shown. The efficacy of the proposed scheme is demonstrated by Monte Carlo simulations using synthetic sparse signals and ECG signals selected from MIT-BIH database.

Progressive fusion of reconstruction algorithms for low latency applications in compressed sensing

Recently, it has been shown that fusion of the estimates of a set of sparse recovery algorithms result in an estimate better than the best estimate in the set, especially when the number of measurements is very limited. Though these schemes provide better sparse signal recovery performance, the higher computational requirement makes it less attractive for low latency applications. To alleviate this drawback, in this paper, we develop a progressive fusion based scheme for low latency applications in compressed sensing. In progressive fusion, the estimates of the participating algorithms are fused progressively according to the availability of estimates. The availability of estimates depends on computational complexity of the participating algorithms, in turn on their latency requirement. Unlike the other fusion algorithms, the proposed progressive fusion algorithm provides quick interim results and successive refinements during the fusion process, which is highly desirable in low latency applications. We analyse the developed scheme by providing sufficient conditions for improvement of CS reconstruction quality and show the practical efficacy by numerical experiments using synthetic and real-world data. (C) 2013 Elsevier B.V. All rights reserved.

OPTICAL FLOW ESTIMATION USING APPROXIMATE NEAREST NEIGHBOR FIELD FUSION

This paper proposes an optical flow algorithm by adapting Approximate Nearest Neighbor Fields (ANNF) to obtain a pixel level optical flow between image sequence. Patch similarity based coherency is performed to refine the ANNF maps. Further improvement in mapping between the two images are obtained by fusing bidirectional ANNF maps between pair of images. Thus a highly accurate pixel level flow is obtained between the pair of images. Using pyramidal cost optimization, the pixel level optical flow is further optimized to a sub-pixel level. The proposed approach is evaluated on the middlebury dataset and the performance obtained is comparable with the state of the art approaches. Furthermore, the proposed approach can be used to compute large displacement optical flow as evaluated using MPI Sintel dataset.

Physical Layer Data Fusion Via Distributed Co-Phasing With General Signal Constellations

This paper studies a pilot-assisted physical layer data fusion technique known as Distributed Co-Phasing (DCP). In this two-phase scheme, the sensors first estimate the channel to the fusion center (FC) using pilots sent by the latter; and then they simultaneously transmit their common data by pre-rotating them by the estimated channel phase, thereby achieving physical layer data fusion. First, by analyzing the symmetric mutual information of the system, it is shown that the use of higher order constellations (HOC) can improve the throughput of DCP compared to the binary signaling considered heretofore. Using an HOC in the DCP setting requires the estimation of the composite DCP channel at the FC for data decoding. To this end, two blind algorithms are proposed: 1) power method, and 2) modified K-means algorithm. The latter algorithm is shown to be computationally efficient and converges significantly faster than the conventional K-means algorithm. Analytical expressions for the probability of error are derived, and it is found that even at moderate to low SNRs, the modified K-means algorithm achieves a probability of error comparable to that achievable with a perfect channel estimate at the FC, while requiring no pilot symbols to be transmitted from the sensor nodes. Also, the problem of signal corruption due to imperfect DCP is investigated, and constellation shaping to minimize the probability of signal corruption is proposed and analyzed. The analysis is validated, and the promising performance of DCP for energy-efficient physical layer data fusion is illustrated, using Monte Carlo simulations.