The present study focuses on developing an efficient and stable unmanned aerial system traffic management (UTM) system that utilizes a data-driven target tracking method and a distributed path planning algorithm for multiple Unmanned Aerial Vehicle (UAV) operations with local dynamic networks, which can provide flexible scalability, enabling autonomous operation of a large number of UAVs in dynamically changing environment. Traditional dynamic motion-based target tracking methods often encounter limitations due to their reliance on a finite number of dynamic motion models. To address this, data-driven target tracking methods were developed based on the statistical model of the Gaussian mixture model (GMM) and deep neural networks of long-short term memory (LSTM) model, to estimate instant and future states of UAV for local path planning problems. The estimation accuracy of the data-driven target tracking methods were analyzed and compared with dynamic model-based target tracking methods. A hybrid dynamic path planning algorithm was proposed, which selectively employs grid-free and -based path search methods depending on the spatio-temporal characteristics of the environments. In static environment, the artificial potential field (APF) method was utilized, while the $A^*$ algorithm was applied in the dynamic state environment. Furthermore, the data-driven target tracking method was integrated with the hybrid path planning algorithm to enhance deconfliction. To ensure smooth trajectories, a minimum snap trajectory method was applied to the planned paths, enabling controller tracking that remains dynamically feasible throughout the entire operation of UAVs. The methods were validated in the Software-in-the-loop (SITL) demonstration with the simple PID controller of the UAVs implemented in the software program. / Ph.D. / This dissertation focuses on developing data-driven models for tracking and path planning of Unmanned Aerial Vehicle (UAV) in dynamic environments with multiple operations. The goal is to improve the accuracy and efficiency of Unmanned Aircraft System traffic management (UTM) under such conditions. The data-driven models are based on Gaussian mixture model (GMM) and long-short term memory (LSTM) and are used to estimate the instant and consecutive future states of UAV for local planning problems. These models are compared to traditional target tracking models, which use dynamic motion models like constant velocity or acceleration. A hybrid dynamic path planning approach is also proposed to solve dynamic path planning problems for multiple UAV operations at an efficient computation cost. The algorithm selectively employs a path planning method between grid-free and grid-based methods depending on the characteristics of the environment. In static state conditions, the system uses the artificial potential field method (APF). When the environment is time-variant, local path planning problems are solved by activating the $A^*$ algorithm. Also, the planned paths are refined by minimum snap trajectory to ensure that the path is dynamically feasible throughout a full operation of the UAV along with controller tracking. The methods were validated in the Software-in-the-loop (SITL) demonstration with the simple PID controller of the UAVs implemented in the software program.

With the growth of computer power, Digital Image Processing plays a more and more important role in the modern world, including the field of industry, medical, communications, spaceflight technology etc. As a sub-field, Interactive Image Processing emphasizes particularly on the communications between machine and human. The basic flowchart is definition of object, analysis and training phase, recognition and feedback. Generally speaking, the core issue is how we define the interesting object and track them more accurately in order to complete the interaction process successfully. This thesis proposes a novel dynamic simulation scheme for interactive image processing. The work consists of two main parts: Hand Motion Detection and Hand Gesture recognition. Within a hand motion detection processing, movement of hand will be identified and extracted. In a specific detection period, the current image is compared with the previous image in order to generate the difference between them. If the generated difference exceeds predefined threshold alarm, a typical hand motion movement is detected. Furthermore, in some particular situations, changes of hand gesture are also desired to be detected and classified. This task requires features extraction and feature comparison among each type of gestures. The essentials of hand gesture are including some low level features such as color, shape etc. Another important feature is orientation histogram. Each type of hand gestures has its particular representation in the domain of orientation histogram. Because Gaussian Mixture Model has great advantages to represent the object with essential feature elements and the Expectation-Maximization is the efficient procedure to compute the maximum likelihood between testing images and predefined standard sample of each different gesture, the comparability between testing image and samples of each type of gestures will be estimated by Expectation-Maximization algorithm in Gaussian Mixture Model. The performance of this approach in experiments shows the proposed method works well and accurately.

State-of-the-art speaker identification and verification (SIV) systems provide near perfect performance under clean conditions. However, their performance deteriorates in the presence of background noise. Many feature compensation, model compensation and signal enhancement techniques have been proposed to improve the noise-robustness of SIV systems. Most of these techniques require extensive training, are computationally expensive or make assumptions about the noise characteristics. There has not been much focus on analyzing the relative importance, or speaker-discriminative power of different speech zones, particularly under noisy conditions. In this work, an automatic, text-independent speaker identification (SI) system and speaker verification (SV) system is proposed using Line Spectral Frequency (LSF) features. The performance of the proposed SI and SV systems are evaluated under various types of background noise. A score-level fusion based technique is implemented to extract complementary information from static and dynamic LSF features. The proposed score-level fusion based SI and SV systems are found to be more robust under noisy conditions. In addition, we investigate the speaker-discriminative power of different speech zones such as vowels, non-vowels and transitions. Rapidly varying regions of speech such as consonant-vowel transitions are found to be most speaker-discriminative in high SNR conditions. Steady, high-energy vowel regions are robust against noise and are hence most speaker-discriminative in low SNR conditions. We show that selectively utilizing features from a combination of transition and steady vowel zones further improves the performance of the score-level fusion based SI and SV systems under noisy conditions. / Master of Science

This thesis aims to give statistical methods applicating to video background subtraction. In the thesis, I will give out the problem introduction and analyze the problem with different statistical methods including histogram statistics, and Gaussian Mixture models methods. To study further, I will give out the time series analysis to make a more significant way: To build up the time series analysis way of video background subtraction with the Kalman filter and give out the predictions and evaluations.

High resolution surveillance video cameras are invaluable resources for effective crime prevention and forensic investigations. However, increasing communication bandwidth requirements of high definition surveillance videos are severely limiting the number of cameras that can be deployed. Higher bitrate also increases operating expenses due to higher data communication and storage costs. Hence, it is essential to develop low complexity algorithms which reduce data rate of the compressed video stream without affecting the image fidelity. In this thesis, a computer vision aided H.264 surveillance video encoder and four associated algorithms are proposed to reduce the bitrate. The proposed techniques are (I) Speeded up foreground segmentation, (II) Skip decision, (III) Reference frame selection and (IV) Face Region-of-Interest (ROI) coding. In the first part of the thesis, a modification to the adaptive Gaussian Mixture Model (GMM) based foreground segmentation algorithm is proposed to reduce computational complexity. This is achieved by replacing expensive floating point computations with low cost integer operations. To maintain accuracy, we compute periodic floating point updates for the GMM weight parameter using the value of an integer counter. Experiments show speedups in the range of 1.33 - 1.44 on standard video datasets where a large fraction of pixels are multimodal. In the second part, we propose a skip decision technique that uses a spatial sampler to sample pixels. The sampled pixels are segmented using the speeded up GMM algorithm. The storage pattern of the GMM parameters in memory is also modified to improve cache performance. Skip selection is performed using the segmentation results of the sampled pixels. In the third part, a reference frame selection algorithm is proposed to maximize the number of background Macroblocks (MB’s) (i.e. MB’s that contain background image content) in the Decoded Picture Buffer. This reduces the cost of coding uncovered background regions. Distortion over foreground pixels is measured to quantify the performance of skip decision and reference frame selection techniques. Experimental results show bit rate savings of up to 94.5% over methods proposed in literature on video surveillance data sets. The proposed techniques also provide up to 74.5% reduction in compression complexity without increasing the distortion over the foreground regions in the video sequence. In the final part of the thesis, face and shadow region detection is combined with the skip decision algorithm to perform ROI coding for pedestrian surveillance videos. Since person identification requires high quality face images, MB’s containing face image content are encoded with a low Quantization Parameter setting (i.e. high quality). Other regions of the body in the image are considered as RORI (Regions of reduced interest) and are encoded at low quality. The shadow regions are marked as Skip. Techniques that use only facial features to detect faces (e.g. Viola Jones face detector) are not robust in real world scenarios. Hence, we propose to initially detect pedestrians using deformable part models. The face region is determined using the deformed part locations. Detected pedestrians are tracked using an optical flow based tracker combined with a Kalman filter. The tracker improves the accuracy and also avoids the need to run the object detector on already detected pedestrians. Shadow and skin detector scores are computed over super pixels. Bilattice based logic inference is used to combine multiple likelihood scores and classify the super pixels as ROI, RORI or RONI. The coding mode and QP values of the MB’s are determined using the super pixel labels. The proposed techniques provide a further reduction in bitrate of up to 50.2%.

Voice recognition has become a more focused and researched field in the last century,and new techniques to identify speech has been introduced. A part of voice recognition isspeaker verification which is divided into Front-end and Back-end. The first componentis the front-end or feature extraction where techniques such as Mel-Frequency CepstrumCoefficients (MFCC) is used to extract the speaker specific features of a speech signal,MFCC is mostly used because it is based on the known variations of the humans ear’scritical frequency bandwidth. The second component is the back-end and handles thespeaker modeling. The back-end is based on the Gaussian Mixture Model (GMM) andGaussian Mixture Model-Universal Background Model (GMM-UBM) methods forenrollment and verification of the specific speaker. In addition, normalization techniquessuch as Cepstral Means Subtraction (CMS) and feature warping is also used forrobustness against noise and distortion. In this paper, we are going to build a speakerverification system and experiment with a variance in the amount of training data for thetrue speaker model, and to evaluate the system performance. And further investigate thearea of security in a speaker verification system then two methods are compared (GMMand GMM-UBM) to experiment on which is more secure depending on the amount oftraining data available.This research will therefore give a contribution to how much data is really necessary fora secure system where the False Positive is as close to zero as possible, how will theamount of training data affect the False Negative (FN), and how does this differ betweenGMM and GMM-UBM.The result shows that an increase in speaker specific training data will increase theperformance of the system. However, too much training data has been proven to beunnecessary because the performance of the system will eventually reach its highest point and in this case it was around 48 min of data, and the results also show that the GMMUBM model containing 48- to 60 minutes outperformed the GMM models.

In autonomous driving, scenario generation can play a critical role when it comes to the verification of the autonomous driving software. Since uncertainty is a major component in driving, there cannot be just one right answer to a prediction for the trajectory or the behaviour, and it becomes important to account for and model that uncertainty. Several approaches have been tried for generating the future scenarios for a vehicle and one such pioneering work set out to model the behaviour of the vehicles probabilistically while tackling the challenges of representation, flexibility, and transferability within one system. The proposed system is called the Semantic Graph Network (SGN) which utilizes feedforward neural networks, Gated Recurrent Units (GRU), and a generative model called the Mixed Density Network to serve its purpose. This thesis project set out in the direction of the implementation of this research work in the context of highway merger scenario and consists of three parts. The first part involves basic data analysis for the employed dataset, whereas the second part involves a model that implements certain parts of the SGN including a variation of the context encoding and the Mixture Density Network. The third and the final part is an attempt to recreate the SGN itself. While the first and the second parts were implemented successfully, for the third part, only certain objectives could be achieved. / Vid autonom körning kan scenariegenerering spela en avgörande roll när det gäller verifieringen av programvaran för autonom körning. Eftersom osäkerhet är en viktig komponent i körning kan det inte bara finnas ett rätt svar på en förutsägelse av banan eller beteendet, och det blir viktigt att redogöra för och modellera den osäkerheten. Flera tillvägagångssätt har prövats för att generera framtidsscenarierna för ett fordon och ett sådant banbrytande arbete gick ut på att modellera fordonens beteende sannolikt samtidigt som utmaningarna med representation, flexibilitet och överförbarhet inom ett system hanteras. Det föreslagna systemet kallas Semantic Graph Network (SGN) som använder neurala nätverk, Gated Recurrent Units (GRU) och en generativ modell som kallas Mixed Density Network för att tjäna sitt syfte. Detta examensarbete riktar sig mot genomförandet av detta forskningsarbete i samband med motorvägssammanslagningsscenariot och består av tre delar. Den första delen involverar grundläggande dataanalys för den använda datamängden, medan den andra delen involverar en modell som implementerar vissa delar av SGN inklusive en variation av kontextkodningen och Mixture Density Network. Den tredje och sista delen är ett försök att återskapa själva SGN. Även om den första och den andra delen genomfördes framgångsrikt, kunde endast vissa mål uppnås för den tredje delen.

This thesis investigates the computer vision application of live fish recognition, which is needed in application scenarios where manual annotation is too expensive, when there are too many underwater videos. This system can assist ecological surveillance research, e.g. computing fish population statistics in the open sea. Some pre-processing procedures are employed to improve the recognition accuracy, and then 69 types of features are extracted. These features are a combination of colour, shape and texture properties in different parts of the fish such as tail/head/top/bottom, as well as the whole fish. Then, we present a novel Balance-Guaranteed Optimized Tree with Reject option (BGOTR) for live fish recognition. It improves the normal hierarchical method by arranging more accurate classifications at a higher level and keeping the hierarchical tree balanced. BGOTR is automatically constructed based on inter-class similarities. We apply a Gaussian Mixture Model (GMM) and Bayes rule as a reject option after the hierarchical classification to evaluate the posterior probability of being a certain species to filter less confident decisions. This novel classification-rejection method cleans up decisions and rejects unknown classes. After constructing the tree architecture, a novel trajectory voting method is used to eliminate accumulated errors during hierarchical classification and, therefore, achieves better performance. The proposed BGOTR-based hierarchical classification method is applied to recognize the 15 major species of 24150 manually labelled fish images and to detect new species in an unrestricted natural environment recorded by underwater cameras in south Taiwan sea. It achieves significant improvements compared to the state-of-the-art techniques. Furthermore, the sequence of feature selection and constructing a multi-class SVM is investigated. We propose that an Individual Feature Selection (IFS) procedure can be directly exploited to the binary One-versus-One SVMs before assembling the full multiclass SVM. The IFS method selects different subsets of features for each Oneversus- One SVM inside the multiclass classifier so that each vote is optimized to discriminate the two specific classes. The proposed IFS method is tested on four different datasets comparing the performance and time cost. Experimental results demonstrate significant improvements compared to the normal Multiclass Feature Selection (MFS) method on all datasets.

139 leaves printed single pages, preliminary pages i-xi and numbered pages 1-127. Includes bibliography and a list of figures and tables. Digitized at 600 dpi grayscale to pdf format (OCR),using a Bizhub 250 Konica Minolta Scanner. / Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2003. / ENGLISH ABSTRACT: Probability density functions (PDFs) and cumulative distribution functions (CDFs) play a central role in statistical pattern recognition and verification systems. They allow observations that do not occur according to deterministic rules to be quantified and modelled. An example of such observations would be the voice patterns of a person that is used as input to a biometric security device. In order to model such non-deterministic observations, a density function estimator is employed to estimate a PDF or CDF from sample data. Although numerous density function estimation techniques exist, all the techniques can be classified into one of two groups, parametric and non-parametric, each with its own characteristic advantages and disadvantages. In this research, we introduce a novel approach to density function estimation that attempts to combine some of the advantages of both the parametric and non-parametric estimators. This is done by considering density estimation using an abstract approach in which the density function is modelled entirely in terms of its moments or characteristic function. New density function estimation techniques are first developed in theory, after which a number of practical density function estimators are presented. Experiments are performed in which the performance of the new estimators are compared to two established estimators, namely the Parzen estimator and the Gaussian mixture model (GMM). The comparison is performed in terms of the accuracy, computational requirements and ease of use of the estimators and it is found that the new estimators does combine some of the advantages of the established estimators without the corresponding disadvantages. / AFRIKAANSE OPSOMMING: Waarskynlikheids digtheidsfunksies (WDFs) en Kumulatiewe distribusiefunksies (KDFs) speel 'n sentrale rol in statistiese patroonherkenning en verifikasie stelsels. Hulle maak dit moontlik om nie-deterministiese observasies te kwantifiseer en te modelleer. Die stempatrone van 'n spreker wat as intree tot 'n biometriese sekuriteits stelsel gegee word, is 'n voorbeeld van so 'n observasie. Ten einde sulke observasies te modelleer, word 'n digtheidsfunksie afskatter gebruik om die WDF of KDF vanaf data monsters af te skat. Alhoewel daar talryke digtheidsfunksie afskatters bestaan, kan almal in een van twee katagoriee geplaas word, parametries en nie-parametries, elk met hul eie kenmerkende voordele en nadele. Hierdie werk Ie 'n nuwe benadering tot digtheidsfunksie afskatting voor wat die voordele van beide die parametriese sowel as die nie-parametriese tegnieke probeer kombineer. Dit word gedoen deur digtheidsfunksie afskatting vanuit 'n abstrakte oogpunt te benader waar die digtheidsfunksie uitsluitlik in terme van sy momente en karakteristieke funksie gemodelleer word. Nuwe metodes word eers in teorie ondersoek en ontwikkel waarna praktiese tegnieke voorgele word. Hierdie afskatters het die vermoe om 'n wye verskeidenheid digtheidsfunksies af te skat en is nie net ontwerp om slegs sekere families van digtheidsfunksies optimaal voor te stel nie. Eksperimente is uitgevoer wat die werkverrigting van die nuwe tegnieke met twee gevestigde tegnieke, naamlik die Parzen afskatter en die Gaussiese mengsel model (GMM), te vergelyk. Die werkverrigting word gemeet in terme van akkuraatheid, vereiste numeriese verwerkingsvermoe en die gemak van gebruik. Daar word bevind dat die nuwe afskatters weI voordele van die gevestigde afskatters kombineer sonder die gepaardgaande nadele.

Aprender conceitos provenientes de fluxos de dados é uma tarefa significamente diferente do aprendizado tradicional em lote. No aprendizado em lote, existe uma premissa implicita que os conceitos a serem aprendidos são estáticos e não evoluem significamente com o tempo. Por outro lado, em fluxos de dados os conceitos a serem aprendidos podem evoluir ao longo do tempo. Esta evolução é chamada de mudança de conceito, e torna a criação de um conjunto fixo de treinamento inaplicável neste cenário. O aprendizado incremental é uma abordagem promissora para trabalhar com fluxos de dados. Contudo, na presença de mudanças de conceito, conceitos desatualizados podem causar erros na classificação de eventos. Apesar de alguns métodos incrementais baseados no modelo de misturas gaussianas terem sido propostos na literatura, nota-se que tais algoritmos não possuem uma política explicita de descarte de conceitos obsoletos. Nesse trabalho um novo algoritmo incremental para fluxos de dados com mudanças de conceito baseado no modelo de misturas gaussianas é proposto. O método proposto é comparado com vários algoritmos amplamente utilizados na literatura, e os resultados mostram que o algoritmo proposto é competitivo com os demais em vários cenários, superando-os em alguns casos. / Learning concepts from data streams differs significantly from traditional batch learning. In batch learning there is an implicit assumption that the concept to be learned is static and does not evolve significantly over time. On the other hand, in data stream learning the concepts to be learned may evolve over time. This evolution is called concept drift, and makes the creation of a fixed training set be no longer applicable. Incremental learning paradigm is a promising approach for learning in a data stream setting. However, in the presence of concept drifts, out dated concepts can cause misclassifications. Several incremental Gaussian mixture models methods have been proposed in the literature, but these algorithms lack an explicit policy to discard outdated concepts. In this work, a new incremental algorithm for data stream with concept drifts based on Gaussian Mixture Models is proposed. The proposed methodis compared to various algorithms widely used in the literature, and the results show that it is competitive with them invarious scenarios, overcoming them in some cases.