This thesis addresses a target detection problem in radar imaging for which the co- variance matrix of an unknown Gaussian clutter background has block diagonal structure. This block diagonal structure is the consequence of a target lying along a boundary between two statistically independent clutter regions. We consider three di erent assumptions on knowledge of the clutter covariance structure: both clutter types totally unknown, one of the clutter types known except for its variance, and one of the clutter types completely known. Here we design adaptive detection algorithms using both the generalized likelihood ratio (GLR) and the invariance principles. There has been considerable recent interest in applying invariant hypothesis testing as an alternative to the GLR test. This interest has been motivated by several attractive theoretical properties of invariant tests including: exact robustness to variation of nuisance parameters, possible nite-sample ...

Radar backscatter from an ocean surface is commonly referred to as sea clutter. Any radar backscatter not due to the scattering from an ocean surface constitutes a potential target. This thesis is concerned with the study of target detection techniques in the presence of high resolution sea clutter. In this dissertation, the high resolution sea clutter is treated as a compound process, where a fast oscillating speckle component is modulated in power by a slowly varying modulating component. While the short term temporal correlations of the clutter are associated with the speckle, the spatial correlations are largely associated with the modulating component. Due to the disparate statistical and correlation properties of the two components, a piecemeal approach is adopted throughout this thesis, whereby the spatial and the temporal correlations of high resolution sea clutter are treated independently. As an extension ...

In this PhD thesis the problem of detection and classification of stationary targets in Through-the-Wall Radar Imaging is considered. A multiple-view framework is used in which a 3D scene of interest is imaged from a set of vantage points. By doing so, clutter and noise is strongly suppressed and target detectability increased. In target detection, centralized as well as decentralized frameworks for simultaneous image fusion and detection are examined. The practical case when no prior knowledge on image statistics is available and all inference must be drawn from the data at hand is specifically considered. An adaptive detection scheme is proposed which iteratively adapts in a non-stationary environment. Optimal configurations for this scheme are derived based on morphological operations which allow for automatic and reliable target detection. In a decentralized framework, local decisions are transmitted to a fusion center to ...

The constant false alarm rate detection of punctual targets embedded in strongly nonhomogeneous data is a difficult task. Indeed, the standard detection techniques do not allow one to get an appropriate regulation of the false alarm rate. In this manuscript, we present three new solutions for this issue. The developed methods are applied on simulated range/doppler maps that arise on the airborne RADAR context. These three approaches are compared by numerical simulations to the classical detection methods. Compared to the standard techniques and within the scope of the studied model, the proposed solutions allow one to get a better false alarm rate regulation and better detection capacities.

Multi-input and multi-output (MIMO) radars achieve high resolution of arrival direction by transmitting orthogonal waveforms, performing matched filtering at the receiver end and then jointly processing the measurements of all receive antennas. This dissertation studies the use of compressive sensing (CS) and matrix completion (MC) techniques as means of reducing the amount of data that need to be collected by a MIMO radar system, without sacrificing the system’s good resolution properties. MIMO radars with sparse sensing are useful in networked radar scenarios, in which the joint processing of the measurements is done at a fusion center, which might be connected to the receive antennas via a wireless link. In such scenarios, reduced amount of data translates into bandwidth and power saving in the receiver-fusion center link. First, we consider previously defined CS-based MIMO radar schemes, and propose optimal transmit antenna ...

In this dissertation we focus on statistical signal processing for Data Fusion, with a particular focus on wireless sensor networks. Six topics are studied: (i) Data Fusion for classification under model uncertainty; (ii) Decision Fusion over coherent MIMO channels; (iii) Performance analysis of Maximum Ratio Combining in MIMO decision fusion; (iv) Decision Fusion over non-coherent MIMO channels; (v) Decision Fusion for distributed classification of multiple targets; (vi) Data Fusion for inverse localization problems, with application to wideband passive sonar platform estimation. The first topic of this thesis addresses the problem of lack of knowledge of the prior distribution in classification problems that operate on small data sets that may make the application of Bayes' rule questionable. Uniform or arbitrary priors may provide classification answers that, even in simple examples, may end up contradicting our common sense about the problem. Entropic ...

It is often assumed that interference or noise signals are Gaussian stochastic processes. Gaussian noise models are appealing as they usually result in noise suppression algorithms that are simple: i.e. linear and closed form. However, such linear techniques may be sub-optimal when the noise process is either a non-Gaussian stochastic process or a chaotic deterministic process. In the event of encountering such noise processes, improvements in noise suppression, relative to the performance of linear methods, may be achievable using nonlinear signal processing techniques. The application of interest for this thesis is maritime surveillance radar, where the main source of interference, termed sea clutter, is widely accepted to be a non-Gaussian stochastic process at high resolutions and/or at low grazing angles. However, evidence has been presented during the last decade which suggests that sea clutter may be better modelled as a ...

Multisensor data fusion technology combines data and information from multiple sensors to achieve improved accuracies and better inference about the environment than could be achieved by the use of a single sensor alone. In this dissertation, we propose parametric and nonparametric multisensor data fusion algorithms with a broad range of applications. Image registration is a vital first step in fusing sensor data. Among the wide range of registration techniques that have been developed for various applications, mutual information based registration algorithms have been accepted as one of the most accurate and robust methods. Inspired by the mutual information based approaches, we propose to use the joint R´enyi entropy as the dissimilarity metric between images. Since the R´enyi entropy of an image can be estimated with the length of the minimum spanning tree over the corresponding graph, the proposed information-theoretic registration ...

In this thesis, advanced techniques for antenna array processing are addressed. The problem of autocalibration is considered and a novel method for a two-dimensional array is developed. Moreover, practicable methods for high-resolution direction-of-arrival (DOA) estimation and detection in automotive radar are proposed. A precise model of the array response is required to maintain the performance of DOA estimation. When the sensor environment is time-varying, this can only be achieved with autocalibration. The fundamental problem of autocalibration of an unknown phase response for uniform rectangular arrays is considered. For the case with a single source, a simple and robust least squares algorithm for joint two-dimensional DOA estimation and phase calibration is developed. An identification problem is determined and a suitable constraint is proposed. Simulation results show that the performance of the proposed estimator is close to the approximate CRB for both ...

In the field of airborne earth observation there is special attention to compact, cost effective, high resolution imaging sensors. Such sensors are foreseen to play an important role in small-scale remote sensing applications, such as the monitoring of dikes, watercourses, or highways. Furthermore, such sensors are of military interest; reconnaissance tasks could be performed with small unmanned aerial vehicles (UAVs), reducing in this way the risk for one's own troops. In order to be operated from small, even unmanned, aircrafts, such systems must consume little power and be small enough to fulfill the usually strict payload requirements. Moreover, to be of interest for the civil market, cost effectiveness is mandatory. Frequency Modulated Continuous Wave (FMCW) radar systems are generally compact and relatively cheap to purchase and to exploit. They consume little power and, due to the fact that they are ...

The interest for the intelligent vehicle field has been increased during the last years, must probably due to an important number of road accidents. Many accidents could be avoided if a device attached to the vehicle would assist the driver with some warnings when dangerous situations are about to appear. In recent years, leading car developers have recorded significant efforts and support research works regarding the intelligent vehicle field where they propose solutions for the existing problems, especially in the vision domain. Road detection and following, pedestrian or vehicle detection, recognition and tracking, night vision, among others are examples of applications which have been developed and improved recently. Still, a lot of challenges and unsolved problems remain in the intelligent vehicle domain. Our purpose in this thesis is to design an Obstacle Recognition system for improving the road security by ...

One desideratum in designing cognitive robots is autonomous learning of communication skills, just like humans. The primary step towards this goal is vocabulary acquisition. Being different from the training procedures of the state-of-the-art automatic speech recognition (ASR) systems, vocabulary acquisition cannot rely on prior knowledge of language in the same way. Like what infants do, the acquisition process should be data-driven with multi-level abstraction and coupled with multi-modal inputs. To avoid lengthy training efforts in a word-by-word interactive learning process, a clever learning agent should be able to acquire vocabularies from continuous speech automatically. The work presented in this thesis is entitled \emph{Constrained Non-negative Matrix Factorization for Vocabulary Acquisition from Continuous Speech}. Enlightened by the extensively studied techniques in ASR, we design computational models to discover and represent vocabularies from continuous speech with little prior knowledge of the language to ...

The development of a fully unsupervised algorithm to achieve image segmentation is the central theme of this dissertation. Existing literature falls short of such a goal providing many algorithms capable of solving a subset of this highly challenging problem. Unsupervised segmentation is the process of identifying and locating the constituent regions of an observed image, while having no prior knowledge of the number of regions. The problem can be formulated in a Bayesian framework and through the use of an assumed model unsupervised segmentation can be posed as a problem of optimisation. This is the approach pursued throughout this dissertation. Throughout the literature, the commonly adopted model is an hierarchical image model whose underlying components are various forms of Markov Random Fields Gaussian. Markov Random Field models are used to model the textural content of the observed images regions, while ...

When the noise affecting time series is colored with unknown statistics, a difficulty for periodic signal detection is to control the true significance level at which the detection tests are conducted. This thesis investigates the possibility of using training datasets of the noise to improve this control. Specifically, for the case of regularly sampled observations, we analyze the performances of various detectors applied to periodograms standardized using the noise training datasets. Emphasis is put on sparse detection in the Fourier domain and on the limitation posed by the necessary finite size of the training sets available in practice. We study the resulting false alarm and detection rates and show that the proposed standardization leads, in some cases, to powerful constant false alarm rate tests. Although analytical results are derived in an asymptotic regime, numerical results show that the theory accurately ...

The world in which we live is becoming more and more automated, exemplified by the numerous robots, or autonomous vehicles, that operate in air, on land, or in water. These robots perform a wide array of different tasks, ranging from the dangerous, such as underground mining, to the boring, such as vacuum cleaning. In common for all different robots is that they must possess a certain degree of awareness, both of themselves and of the world in which they operate. This thesis considers aspects of two research problems associated with this, more specifically the Simultaneous Localization and Mapping (SLAM) problem and the Multiple Target Tracking (MTT) problem. The SLAM problem consists of having the robot create a map of an environment and simultaneously localize itself in the same map. One way to reduce the effect of small errors that inevitably ...