Estimating object motion is one of the key components of video processing and the first step in applications which require video representation. Visual object tracking is one way of extracting this component, and it is one of the major problems in the field of computer vision. Numerous discriminative and generative machine learning approaches have been employed to solve this problem. Recently, correlation filter based (CFB) approaches have been popular due to their computational efficiency and notable performances on benchmark datasets. The ultimate goal of CFB approaches is to find a filter (i.e., template) which can produce high correlation outputs around the actual object location and low correlation outputs around the locations that are far from the object. Nevertheless, CFB visual tracking methods suffer from many challenges, such as occlusion, abrupt appearance changes, fast motion and object deformation. The main reasons ...

Mapping stationary objects and tracking moving targets are essential for many autonomous functions in vehicles. In order to compute the map and track estimates, sensor measurements from radar, laser and camera are used together with the standard proprioceptive sensors present in a car. By fusing information from different types of sensors, the accuracy and robustness of the estimates can be increased. Different types of maps are discussed and compared in the thesis. In particular, road maps make use of the fact that roads are highly structured, which allows relatively simple and powerful models to be employed. It is shown how the information of the lane markings, obtained by a front looking camera, can be fused with inertial measurement of the vehicle motion and radar measurements of vehicles ahead to compute a more accurate and robust road geometry estimate. Further, it ...

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 ...

Vision and infrared sensors are very common in surveillance and security applications, and there are numerous examples where a critical infrastructure, e.g. a harbor, an airport, or a military camp, is monitored by video surveillance systems. There is a need for automatic processing of sensor data and intelligent control of the sensor in order to obtain efficient and high performance solutions that can support a human operator. This thesis considers two subparts of the complex sensor fusion system; namely target tracking and sensor control.The multiple target tracking problem using particle filtering is studied. In particular, applications where road constrained targets are tracked with an airborne video or infrared camera are considered. By utilizing the information about the road network map it is possible to enhance the target tracking and prediction performance. A dynamic model suitable for on-road target tracking with ...

This thesis deals with estimation of states and parameters in nonlinear and non-Gaussian dynamic systems. Sequential Monte Carlo methods are mainly used to this end. These methods rely on models of the underlying system, motivating some developments of the model concept. One of the main reasons for the interest in nonlinear estimation is that problems of this kind arise naturally in many important applications. Several applications of nonlinear estimation are studied. The models most commonly used for estimation are based on stochastic difference equations, referred to as state-space models. This thesis is mainly concerned with models of this kind. However, there will be a brief digression from this, in the treatment of the mathematically more intricate differential-algebraic equations. Here, the purpose is to write these equations in a form suitable for statistical signal processing. The nonlinear state estimation problem is ...

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 ...

Recent advances in computer technology and speech and language processing have made possible that some new ways of person-machine communication and computer assistance to human activities start to appear feasible. Concretely, the interest on the development of new challenging applications in indoor environments equipped with multiple multimodal sensors, also known as smart-rooms, has considerably grown. In general, it is well-known that the quality of speech signals captured by microphones that can be located several meters away from the speakers is severely distorted by acoustic noise and room reverberation. In the context of the development of hands-free speech applications in smart-room environments, the use of obtrusive sensors like close-talking microphones is usually not allowed, and consequently, speech technologies must operate on the basis of distant-talking recordings. In such conditions, speech technologies that usually perform reasonably well in free of noise and ...

Device-to-Device (D2D) is one of the important proposed solutions to increase the capacity, offload the traffic, and improve the energy effciency in next generation cellular networks. D2D communication is known as a direct communication between two users without using cellular infrastructure networks. Despite of large expected bene fits in terms of capacity in D2D, the coexistence of D2D and cellular networks in the same spectrum creates new challenges in interference management and network design. To limit the interference power control schemes on cellular networks and D2D networks are typically adopted. Even though power control is introduced to limit the interference level, it does not prevent cellular and D2D users from experiencing coverage limitation when sharing the same radio resources. Therefore, the design of such networks requires the availability of suitable methods able to properly model the eff ect of interference ...

Vision sensor networks and video cameras find widespread usage in several applications that rely on effective representation of scenes or analysis of 3D information. These systems usually acquire multiple images of the same 3D scene from different viewpoints or at different time instants. Therefore, these images are generally correlated through displacement of scene objects. Efficient compression techniques have to exploit this correlation in order to efficiently communicate the 3D scene information. Instead of joint encoding that requires communication between the cameras, in this thesis we concentrate on distributed representation, where the captured images are encoded independently, but decoded jointly to exploit the correlation between images. One of the most important and challenging tasks relies in estimation of the underlying correlation from the compressed correlated images for effective reconstruction or analysis in the joint decoder. This thesis focuses on developing efficient ...

The field of Life Science Engineering (LSE) is rapidly expanding and predicted to grow strongly in the next decades. It covers areas of food and medical research, plant and pests’ research, and environmental research. In each research area, engineers try to find equations that model a certain life science problem. Once found, they research different numerical techniques to solve for the unknown variables of these equations. Afterwards, solution improvement is examined by adopting more accurate conventional techniques, or developing novel algorithms. In particular, signal and image processing techniques are widely used to solve those LSE problems require pattern recognition. However, due to the continuous evolution of the life science problems and their natures, these solution techniques can not cover all aspects, and therefore demanding further enhancement and improvement. The thesis presents numerical algorithms of digital signal and image processing to ...

Communicating with mobile devices has become an unavoidable part of our daily life. Unfortunately, the current user interface designs are mostly taken directly from desktop computers. This has resulted in devices that are sometimes hard to use. Since more processing power and new sensing technologies are already available, there is a possibility to develop systems to communicate through different modalities. This thesis proposes some novel computer vision approaches, including head tracking, object motion analysis and device ego-motion estimation, to allow efficient interaction with mobile devices. For head tracking, two new methods have been developed. The first method detects a face region and facial features by employing skin detection, morphology, and a geometrical face model. The second method, designed especially for mobile use, detects the face and eyes using local texture features. In both cases, Kalman filtering is applied to estimate ...

This thesis deals with the coding of images with multiple coding schemes and their dynamic selection. In our society of information highways, electronic communication is taking everyday a bigger place in our lives. The number of transmitted images is also increasing everyday. Therefore, research on image compression is still an active area. However, the current trend is to add several functionalities to the compression scheme such as progressiveness for more comfortable browsing of web-sites or databases. Classical image coding schemes have a rigid structure. They usually process an image as a whole and treat the pixels as a simple signal with no particular characteristics. Second generation schemes use the concept of objects in an image, and introduce a model of the human visual system in the design of the coding scheme. Dynamic coding schemes, as their name tells us, make ...

This thesis contributes to motion characterization through inertial and physiological signals captured by wearable devices and analyzed using signal processing and deep learning techniques. This research leverages the possibilities of motion analysis for three main applications: to know what physical activity a person is performing (Human Activity Recognition), to identify who is performing that motion (user identification) or know how the movement is being performed (motor anomaly detection). Most previous research has addressed human motion modeling using invasive sensors in contact with the user or intrusive sensors that modify the user’s behavior while performing an action (cameras or microphones). In this sense, wearable devices such as smartphones and smartwatches can collect motion signals from users during their daily lives in a less invasive or intrusive way. Recently, there has been an exponential increase in research focused on inertial-signal processing to ...

It is increasingly more common that an occasion is recorded by multiple individuals with the proliferation of recording devices such as smart phones. When properly aligned, these recordings may provide several audio and visual perspectives to a scene which leads to several applications in restoring, remastering and remixing frameworks in various fields. In this study, we interpret the problem of aligning multiple unsynchronized audio sequences in a probabilistic framework. In this manner, we propose a novel, model based approach where we define a template generative model. We define 6 different generative models using this template covering basically all kinds of features (real valued, positive, binary and categorical). Proper scoring functions that evaluates the quality of an alignment are derived from each model where we are able to penalize non-overlapping alignments and alignment of a single sequence against a pre-aligned sequences. ...

Multipath remains a dominant source of ranging errors in any Global Navigation Satellite System (GNSS), such as the Global Positioning System (GPS) or the developing European satellite navigation system Galileo. Multipath is undesirable in the context of GNSS, since the reception of multipath can create significant distortion to the shape of the correlation function used in the time delay estimate of a Delay Locked Loop (DLL) of a navigation receiver, leading to an error in the receiver's position estimate. Therefore, in order to mitigate the impact of multipath on a navigation receiver, the multipath problem has been approached from several directions, including the development of novel signal processing techniques. Many of these techniques rely on modifying the tracking loop discriminator (i.e., the DLL and its enhanced variants) in order to make it resistant to multipath, but their performance in severe ...