Finite sensor selection algorithm in distributed MIMO radar for joint target tracking and detection

Due to the requirement of anti-interception and the limitation of processing capability of the fusion center, the subarray selection is very important for the distributed multiple-input multiple-output(MIMO) radar system, especially in the hostile environment. In such conditions, an efficient subarray selection strategy is proposed for MIMO radar performing tasks of target tracking and detection. The goal of the proposed strategy is to minimize the worst-case predicted posterior Cramer-Rao lower bound(PCRLB) while maximizing the detection probability for a certain region. It is shown that the subarray selection problem is NP-hard, and a modified particle swarm optimization(MPSO) algorithm is developed as the solution strategy. A large number of simulations verify that the MPSO can provide close performance to the exhaustive search(ES) algorithm. Furthermore, the MPSO has the advantages of simpler structure and lower computational complexity than the multi-start local search algorithm.

Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion

Radar and LiDAR are two environmental sensors commonly used in autonomous vehicles,Lidars are accurate in determining objects’positions but significantly less accurate as Radars on measuring their velocities.However,Radars relative to Lidars are more accurate on measuring objects velocities but less accurate on determining their positions as they have a lower spatial resolution.In order to compensate for the low detection accuracy,incomplete target attributes and poor environmental adaptability of single sensors such as Radar and LiDAR,in this paper,an effective method for high-precision detection and tracking of surrounding targets of autonomous vehicles.By employing the Unscented Kalman Filter,Radar and LiDAR information is effectively fused to achieve high-precision detection of the position and speed information of targets around the autonomous vehicle.Finally,the real vehicle test under various driving environment scenarios is carried out.The experimental results show that the proposed sensor fusion method can effectively detect and track the vehicle peripheral targets with high accuracy.Compared with a single sensor,it has obvious advantages and can improve the intelligence level of autonomous cars.

Moving Target Detection and Tracking for Smartphone Automatic Focusing

In this paper,a non-contact auto-focusing method is proposed for the essential function of auto-focusing in mobile devices.Firstly,we introduce an effective target detection method combining the 3-frame difference algorithm and Gauss mixture model,which is robust for complex and changing background.Secondly,a stable tracking method is proposed using the local binary patter feature and camshift tracker.Auto-focusing is achieved by using the coordinate obtained during the detection and tracking procedure.Experiments show that the proposed method can deal with complex and changing background.When there exist multiple moving objects,the proposed method also has good detection and tracking performance.The proposed method implements high efficiency,which means it can be easily used in real mobile device systems.

A Novel Tracking-by-Detection Method with Local Binary Pattern and Kalman Filter

Tracking-Learning-Detection( TLD) is an adaptive tracking algorithm,which tracks by learning the appearance of the object as the video progresses and shows a good performance in long-term tracking task.But our experiments show that under some scenarios,such as non-uniform illumination changing,serious occlusion,or motion-blurred,it may fails to track the object. In this paper,to surmount some of these shortages,especially for the non-uniform illumination changing,and give full play to the performance of the tracking-learning-detection framework, we integrate the local binary pattern( LBP) with the cascade classifiers,and define a new classifier named ULBP( Uniform Local Binary Pattern) classifiers. When the object appearance has rich texture features,the ULBP classifier will work instead of the nearest neighbor classifier in TLD algorithm,and a recognition module is designed to choose the suitable classifier between the original nearest neighbor( NN) classifier and the ULBP classifier. To further decrease the computing load of the proposed tracking approach,Kalman filter is applied to predict the searching range of the tracking object.A comprehensive study has been conducted to confirm the effectiveness of the proposed algorithm (TLD _ULBP),and different multi-property datasets were used. The quantitative evaluations show a significant improvement over the original TLD,especially in various lighting case.

Dynamic Target Detection and Tracking Based on Quantum Illumination LIDAR

In the detection process of classic radars such as radar/lidar,the detection performance will be weakened due to the presence of background noise and loss.The quantum illumination protocol can use the spatial correlation between photon pairs to improve image quality and enhance radar detection performance,even in the presence of loss and noise.Based on this quantum illumination LIDAR,a theoretic scheme is developed for the detection and tracking of moving targets,and the trajectory of the object is analyzed.Illuminated by the quantum light source as Spontaneous Parametric Down-Conversion(SPDC),an opaque target can be identified from the background in the presence of strong noise.The static objects obtained by classical and quantum illumination are compared,respectively,and the advantages of quantum illumination are verified.The moving objects are taken at appropriate intervals to obtain the images of the moving objects,then the images are visualized as dynamic images,and the three-frame difference method is used to obtain the target contour.Finally,the image is performed by a series of processing on to obtain the trajectory of the target object.Several different motion situations are analyzed separately,and compared with the set object motion trajectory,which proves the effectiveness of the scheme.This scheme has potential practical application value.

Novel detection method for infrared small targets using weighted information entropy

This paper presents a method for detecting the small infrared target under complex background. An algorithm, named local mutation weighted information entropy （LMWIE）, is proposed to suppress background. Then, the grey value of targets is enhanced by calculating the local energy. Image segmentation based on the adaptive threshold is used to solve the problems that the grey value of noise is enhanced with the grey value improvement of targets. Experimental results show that compared with the adaptive Butterworth high-pass filter method, the proposed algorithm is more effective and faster for the infrared small target detection.

Small tracking error correction for moving targets of intelligent electro-optical detection systems

Small tracking error correction for electro-optical systems is essential to improve the tracking precision of future mechanical and defense technology.Aerial threats,such as“low,slow,and small(LSS)”moving targets,pose increasing challenges to society.The core goal of this work is to address the issues,such as small tracking error correction and aiming control,of electro-optical detection systems by using mechatronics drive modeling,composite velocity–image stability control,and improved interpolation filter design.A tracking controller delay prediction method for moving targets is proposed based on the Euler transformation model of a two-axis,two-gimbal cantilever beam coaxial configuration.Small tracking error formation is analyzed in detail to reveal the scientific mechanism of composite control between the tracking controller’s feedback and the motor’s velocity–stability loop.An improved segmental interpolation filtering algorithm is established by combining line of sight(LOS)position correction and multivariable typical tracking fault diagnosis.Then,a platform with 2 degrees of freedom is used to test the system.An LSS moving target shooting object with a tracking distance of S=100 m,target board area of A=1 m^(2),and target linear velocity of v=5 m/s is simulated.Results show that the optimal method’s distribution probability of the tracking error in a circle with a radius of 1 mrad is 66.7%,and that of the traditional method is 41.6%.Compared with the LOS shooting accuracy of the traditional method,the LOS shooting accuracy of the optimized method is improved by 37.6%.

Improved Weighted Local Contrast Method for Infrared Small Target Detection

In order to address the problem of high false alarm rate and low probabilities of infrared small target detection in complex low-altitude background,an infrared small target detection method based on improved weighted local contrast is proposed in this paper.First,the ratio information between the target and local background is utilized as an enhancement factor.The local contrast is calculated by incorporating the heterogeneity between the target and local background.Then,a local product weighted method is designed based on the spatial dissimilarity between target and background to further enhance target while suppressing background.Finally,the location of target is obtained by adaptive threshold segmentation.As experimental results demonstrate,the method shows superior performance in several evaluation metrics compared with six existing algorithms on different datasets containing targets such as unmanned aerial vehicles(UAV).

Study on Dim Target Detection and Discrimination from Sea Clutter

Dim target detection from sea clutter is one of the difficult topics in ocean remote sensing application. By aiming at the shortcoming of false alarms when using track before detect （TBD） based on dynamic programming, a new discrimination method called statistics of direction histogram （SDH） is proposed, which is based on different features of trajectories between the true target and false one. Moreover, a new series of discrimination schemes of SDH and Local Extreme Value method （LEV） are studied and applied to simulate the actually measured radar data. The results show that the given discrimination is effective to reduce false alarms during dim targets detection.

Design of a wide-field target detection and tracking system using the segmented planar imaging detector for electro-optical reconnaissance

Detecting and tracking multiple targets simultaneously for space-based surveillance requires multiple cameras,which leads to a large system volume and weight. To address this problem, we propose a wide-field detection and tracking system using the segmented planar imaging detector for electro-optical reconnaissance. This study realizes two operating modes by changing the working paired lenslets and corresponding waveguide arrays： a detection mode and a tracking mode. A model system was simulated and evaluated using the peak signal-to-noise ratio method. The simulation results indicate that the detection and tracking system can realize wide-field detection and narrow-field, multi-target, high-resolution tracking without moving parts.

A camouflage target detection method based on local minimum difference constraints

To address the problems of missing inside and incomplete edge contours in camouflaged target detection results,we propose a camouflaged moving target detection algorithm based on local minimum difference constraints(LMDC).The algorithm first uses the mean to optimize the initial background model,removes the stable background region by global comparison,and extracts the edge point set in the potential target region so that each boundary point(seed)grows along the center of the target.Finally,we define the minor difference constraints term,combine the seed path and the target space consistency,and calculate the attributes of each pixel in the potential target area to realize camouflaged moving target detection.The algorithm of this paper is verified based on a public data sofa video and test videos and compared with the five classic algorithms.The experimental results show that the proposed algorithm yields good results based on integrity,accuracy,and a number of objective evaluation indexes,and its overall performance is better than that of the compared algorithms.

An array of two periodic leaky-wave antennas with sum and difference beam scanning for application in target detection and tracking

An array of two substrate-integrated waveguide(SIW) periodic leaky-wave antennas(LWAs) with sum and difference beam scanning is proposed for application in target detection and tracking. The array is composed of two periodic LWAs with different periods, in which each LWA generates a narrow beam through the n=-1 space harmonic. Due to the two different periods for the two LWAs, two beams with two different directions can be realized, which can be combined into a sum beam when the array is fed in phase or into a difference beam when the array is fed 180?out of phase. The array integrated with 180?hybrid is designed, fabricated, and measured.Measurement results show that the sum beam can reach a gain up to 15.9 dBi and scan from-33.4?to 20.8?. In the scanning range, the direction of the null in the difference beam is consistent with the direction of the sum beam,with the lowest null depth of-40.8 dB. With the excellent performance, the antenna provides an alternative solution with low complexity and low cost for target detection and tracking.

Integrated sensing and communication based outdoor multi-target detection,tracking,and localization in practical 5G Networks

The 6th generation(6G)wireless networks will likely to support a variety of capabilities beyond communication,such as sensing and localization,through the use of communication networks empowered by advanced technologies.Integrated sensing and communication(ISAC)has been recognized as a critical technology as well as a usage scenario for 6G,as widely agreed by leading global standardization bodies.ISAC utilizes communication infrastructure and devices to provide the capability of sensing the environment with high resolution,as well as tracking and localizing moving objects nearby.Meeting both the requirements for communication and sensing simultaneously,ISAC-based approaches celebrate the advantages of higher spectral and energy efficiency compared to two separate systems to serve two purposes,and potentially lower costs and easy deployment.A key step towards the standardization and commercialization of ISAC is to carry out comprehensive field trials in practical networks,such as the 5th generation(5G)networks,to demonstrate its true capacities in practical scenarios.In this paper,an ISAC-based outdoor multi-target detection,tracking and localization approach is proposed and validated in 5G networks.The proposed system comprises of 5G base stations(BSs)which serve nearby mobile users normally,while accomplishing the task of detecting,tracking,and localizing drones,vehicles,and pedestrians simultaneously.Comprehensive trial results demonstrate the relatively high accuracy of the proposed method in practical outdoor environment when tracking and localizing single targets and multiple targets.

LF-CNN:Deep Learning-Guided Small Sample Target Detection for Remote Sensing Classification

Target detection of small samples with a complex background is always difficult in the classification of remote sensing images.We propose a new small sample target detection method combining local features and a convolutional neural network(LF-CNN)with the aim of detecting small numbers of unevenly distributed ground object targets in remote sensing images.The k-nearest neighbor method is used to construct the local neighborhood of each point and the local neighborhoods of the features are extracted one by one from the convolution layer.All the local features are aggregated by maximum pooling to obtain global feature representation.The classification probability of each category is then calculated and classified using the scaled expected linear units function and the full connection layer.The experimental results show that the proposed LF-CNN method has a high accuracy of target detection and classification for hyperspectral imager remote sensing data under the condition of small samples.Despite drawbacks in both time and complexity,the proposed LF-CNN method can more effectively integrate the local features of ground object samples and improve the accuracy of target identification and detection in small samples of remote sensing images than traditional target detection methods.

A multi-sensor-system cooperative scheduling method for ground area detection and target tracking

A multi-sensor-system cooperative scheduling method for multi-task collaboration is proposed in this paper.We studied the method for application in ground area detection and target tracking.The aim of sensor scheduling is to select the optimal sensors to complete the assigned combat tasks and obtain the best combat benefits.First,an area detection model was built,and the method of calculating the detection risk was proposed to quantify the detection benefits in scheduling.Then,combining the information on road constraints and the Doppler blind zone,a ground target tracking model was established,in which the posterior Carmér-Rao lower bound was applied to evaluate future tracking accuracy.Finally,an objective function was developed which considers the requirements of detection,tracking,and energy consumption control.By solving the objective function,the optimal sensor-scheduling scheme can be obtained.Simulation results showed that the proposed sensor-scheduling method can select suitable sensors to complete the required combat tasks,and provide good performance in terms of area detection,target tracking,and energy consumption control.

Tracking a Time-Varying Number of Targets with Radio-Frequency Tomography

Radio-frequency(RF) tomography is an emerging technology which derives targets location information by analyzing the changes of received signal strength(RSS) in wireless links. This paper presents and evaluates a novel RF tomography system which is capable of detecting and tracking a time-varying number of targets in a cluttered indoor environment. The system incorporates an observation model based on RSS attenuation histogram and a multi-target tracking-by-detection filtering approach based on probability hypothesis density(PHD) filter. In addition, the sequential Monte Carlo method is applied to implement the multi-target filtering. To evaluate the tracking system, the experiments involving up to 3 targets were performed within an obstructed indoor area of 70 m2. The experimental results indicate that the proposed tracking system is capable of tracking a time-varying number of targets.

Current-Aided Multiple-AUV Cooperative Localization and Target Tracking in Anchor-Free Environments

In anchor-free environments,where no devices with known positions are available,the error growth of autonomous underwater vehicle(AUV)localization and target tracking is unbounded due to the lack of references and the accumulated errors in inertial measurements.This paper aims to improve the localization and tracking accuracy by involving current information as extra references.We first integrate current measurements and maps with belief propagation and design a distributed current-aided message-passing scheme that theoretically solves the localization and tracking problems.Based on this scheme,we propose particle-based cooperative localization and target tracking algorithms,named CaCL and CaTT,respectively.In AUV localization,CaCL uses the current measurements to correct the predicted and transmitted position information and alleviates the impact of the accumulated errors in inertial measurements.With target tracking,the current maps are applied in CaTT to modify the position prediction of the target which is calculated through historical estimates.The effectiveness and robustness of the proposed methods are validated through various simulations by comparisons with alternative methods under different trajectories and current conditions.

Passive target tracking with intermittent measurement based on random finite set

In the tracking problem for the maritime radiation source by a passive sensor,there are three main difficulties,i.e.,the poor observability of the radiation source,the detection uncertainty(false and missed detections)and the uncertainty of the target appearing/disappearing in the field of view.These difficulties can make the establishment or maintenance of the radiation source target track invalid.By incorporating the elevation information of the passive sensor into the automatic bearings-only tracking(BOT)and consolidating these uncertainties under the framework of random finite set(RFS),a novel approach for tracking maritime radiation source target with intermittent measurement was proposed.Under the RFS framework,the target state was represented as a set that can take on either an empty set or a singleton; meanwhile,the measurement uncertainty was modeled as a Bernoulli random finite set.Moreover,the elevation information of the sensor platform was introduced to ensure observability of passive measurements and obtain the unique target localization.Simulation experiments verify the validity of the proposed approach for tracking maritime radiation source and demonstrate the superiority of the proposed approach in comparison with the traditional integrated probabilistic data association(IPDA)method.The tracking performance under different conditions,particularly involving different existence probabilities and different appearance durations of the target,indicates that the method to solve our problem is robust and effective.

UnderwaterWaste Recognition and Localization Based on Improved YOLOv5

With the continuous development of the economy and society,plastic pollution in rivers,lakes,oceans,and other bodies of water is increasingly severe,posing a serious challenge to underwater ecosystems.Effective cleaning up of underwater litter by robots relies on accurately identifying and locating the plastic waste.However,it often causes significant challenges such as noise interference,low contrast,and blurred textures in underwater optical images.A weighted fusion-based algorithm for enhancing the quality of underwater images is proposed,which combines weighted logarithmic transformations,adaptive gamma correction,improved multi-scale Retinex(MSR)algorithm,and the contrast limited adaptive histogram equalization(CLAHE)algorithm.The proposed algorithm improves brightness,contrast,and color recovery and enhances detail features resulting in better overall image quality.A network framework is proposed in this article based on the YOLOv5 model.MobileViT is used as the backbone of the network framework,detection layer is added to improve the detection capability for small targets,self-attention and mixed-attention modules are introduced to enhance the recognition capability of important features.The cross stage partial(CSP)structure is employed in the spatial pyramid pooling(SPP)section to enrich feature information,and the complete intersection over union(CIOU)loss is replaced with the focal efficient intersection over union(EIOU)loss to accelerate convergence while improving regression accuracy.Experimental results proved that the target recognition algorithm achieved a recognition accuracy of 0.913 and ensured a recognition speed of 45.56 fps/s.Subsequently,Using red,green,blue and depth(RGB-D)camera to construct a system for identifying and locating underwater plastic waste.Experiments were conducted underwater for recognition,localization,and error analysis.The experimental results demonstrate the effectiveness of the proposed method for identifying and locating underwater plastic waste,and it has good localization accuracy.

METHOD OF MULTI-TARGET TRACKING IN WIDE AREA SURVEILLANCE AIRBORNE RADAR SYSTEM BASING ON CLUSTERING ANALYSIS

This paper proposed a robust method based on the definition of Mahalanobis distance to track ground moving target. The feature and the geometry of airborne ground moving target tracking systems are studied at first. Based on this feature, the assignment relation of time-nearby target is calculated via Mahalanobis distance, and then the corresponding transformation formula is deduced. The simulation results show the correctness and effectiveness of the proposed method.