This dissertation describes the development of a method for simultaneous localization and mapping (SLAM)algorithm which is suitable for high dimensional vehicle and map states. The goal of SLAM is to be able to navigate autonomously without the use of external aiding sources for vehicles. SLAM's combination of the localization and mapping problems makes it especially difficult to solve accurately and efficiently, due to the shear size of the unknown state vector. The vehicle states are typically constant in number while the map states increase with time. The increasing number of unknowns in the map state makes it impossible to use traditional Kalman filters to solve the problem- the covariance matrix grows too large and the computational complexity becomes too overwhelming. Particle filters have proved beneficial for alleviating the complexity of the SLAM problem for low dimensional vehicle states, but there is little work done for higher dimensional states. This research provides an Gaussian Mixture Model based alternative to the particle filtering SLAM methods, and provides a further partition that alleviates the vehicle state dimensionality problem with the standard particle filter. A SLAM background and basic theory is provided in the early chapters. A description of the new algorithm is provided in detail. Simulations are run demonstrating the performance of the algorithm, and then an aerial SLAM platform is developed for further testing. The aerial SLAM system uses a RGBD camera as well as an inertial measurement unit to collect SLAM data, and the ground truth is captured using an indoor optical motion capture system. Details on image processing and specifics on the inertial integration are provided. The performance of the algorithm is compared to a state of the art particle filtering based SLAM algorithm, and the results are discussed. Further work performed while working in the industry is described, which involves SLAM for adding transponders onto long-baseline acoustic arrays and stereo-inertial SLAM for 3D reconstruction of deep-water sub-sea structures. Finally, a neatly packaged production line version of the stereo-inertial SLAM system presented.

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Adaptive LMS equalizers are widely used in digital communication systems for their simplicity in implementation. Conventional adaptive filtering theory suggests the upper bound of the performance of such equalizer is determined by the performance of a Wiener filter of the same structure. However, in the presence of a narrowband interferer the performance of the LMS equalizer is better than that of its Wiener counterpart. This phenomenon, termed a non-Wiener effect, has been observed before and substantial work has been done in explaining the underlying reasons. In this work, we focus on the Bit Error Rate (BER) performance of LMS equalizers. At first a model “the Gaussian Mixture (GM) model“ is presented to estimate the BER performance of a Wiener filter operating in an environment dominated by a narrowband interferer. Simulation results show that the model predicts BER accurately for a wide range of SNR, ISR, and equalizer length. Next, a model similar to GM termed the Gaussian Mixture using Steady State Weights (GMSSW) model is proposed to model the BER behavior of the adaptive NLMS equalizer. Simulation results show unsatisfactory performance of the model. A detailed discussion is presented that points out the limitations of the GMSSW model, thereby providing some insight into the non-Wiener behavior of (N)LMS equalizers. An improved model, the Gaussian with Mean Square Error (GMSE), is then proposed. Simulation results show that the GMSE model is able to model the non-Wiener characteristics of the NLMS equalizer when the normalized step size is between 0 and 0.4. A brief discussion is provided on why the model is inaccurate for larger step sizes. / Master of Science

Dans beaucoup de pays du monde, on observe une importante augmentation du nombre de personnes âgées vivant seules. Depuis quelques années, un nombre significatif de projets de recherche sur l’assistance aux personnes âgées ont vu le jour. La plupart de ces projets utilisent plusieurs modalités (vidéo, son, détection de chute, etc.) pour surveiller l'activité de la personne et lui permettre de communiquer naturellement avec sa maison "intelligente", et, en cas de danger, lui venir en aide au plus vite. Ce travail a été réalisé dans le cadre du projet ANR VERSO de recherche industrielle, Sweet-Home. Les objectifs du projet sont de proposer un système domotique permettant une interaction naturelle (par commande vocale et tactile) avec la maison, et procurant plus de sécurité à l'habitant par la détection des situations de détresse. Dans ce cadre, l'objectif de ce travail est de proposer des solutions pour la reconnaissance des sons de la vie courante dans un contexte réaliste. La reconnaissance du son fonctionnera en amont d'un système de Reconnaissance Automatique de la Parole. Les performances de celui-ci dépendent donc de la fiabilité de la séparation entre la parole et les autres sons. Par ailleurs, une bonne reconnaissance de certains sons, complétée par d'autres sources informations (détection de présence, détection de chute, etc.) permettrait de bien suivre les activités de la personne et de détecter ainsi les situations de danger. Dans un premier temps, nous nous sommes intéressés aux méthodes en provenance de la Reconnaissance et Vérification du Locuteur. Dans cet esprit, nous avons testé des méthodes basées sur GMM et SVM. Nous avons, en particulier, testé le noyau SVM-GSL (SVM GMM Supervector Linear Kernel) utilisé pour la classification de séquences. SVM-GSL est une combinaison de SVM et GMM et consiste à transformer une séquence de vecteurs de longueur arbitraire en un seul vecteur de très grande taille, appelé Super Vecteur, et utilisé en entrée d'un SVM. Les expérimentations ont été menées en utilisant une base de données créée localement (18 classes de sons, plus de 1000 enregistrements), puis le corpus du projet Sweet-Home, en intégrant notre système dans un système plus complet incluant la détection multi-canaux du son et la reconnaissance de la parole. Ces premières expérimentations ont toutes été réalisées en utilisant un seul type de coefficients acoustiques, les MFCC. Par la suite, nous nous sommes penchés sur l'étude d'autres familles de coefficients en vue d'en évaluer l'utilisabilité en reconnaissance des sons de l'environnement. Notre motivation fut de trouver des représentations plus simples et/ou plus efficaces que les MFCC. En utilisant 15 familles différentes de coefficients, nous avons également expérimenté deux approches pour transformer une séquence de vecteurs en un seul vecteur, à utiliser avec un SVM linéaire. Dans le première approche, on calcule un nombre fixe de coefficients statistiques qui remplaceront toute la séquence de vecteurs. La seconde approche (une des contributions de ce travail) utilise une méthode de discrétisation pour trouver, pour chaque caractéristique d'un vecteur acoustique, les meilleurs points de découpage permettant d'associer une classe donnée à un ou plusieurs intervalles de valeurs. La probabilité de la séquence est estimée par rapport à chaque intervalle. Les probabilités obtenues ainsi sont utilisées pour construire un seul vecteur qui remplacera la séquence de vecteurs acoustiques. Les résultats obtenus montrent que certaines familles de coefficients sont effectivement plus adaptées pour reconnaître certaines classes de sons. En effet, pour la plupart des classes, les meilleurs taux de reconnaissance ont été observés avec une ou plusieurs familles de coefficients différentes des MFCC. Certaines familles sont, de surcroît, moins complexes et comptent une seule caractéristique par fenêtre d'analyse contre 16 caractéristiques pour les MFCC / In many countries around the world, the number of elderly people living alone has been increasing. In the last few years, a significant number of research projects on elderly people monitoring have been launched. Most of them make use of several modalities such as video streams, sound, fall detection and so on, in order to monitor the activities of an elderly person, to supply them with a natural way to communicate with their “smart-home”, and to render assistance in case of an emergency. This work is part of the Industrial Research ANR VERSO project, Sweet-Home. The goals of the project are to propose a domotic system that enables a natural interaction (using touch and voice command) between an elderly person and their house and to provide them a higher safety level through the detection of distress situations. Thus, the goal of this work is to come up with solutions for sound recognition of daily life in a realistic context. Sound recognition will run prior to an Automatic Speech Recognition system. Therefore, the speech recognition’s performances rely on the reliability of the speech/non-speech separation. Furthermore, a good recognition of a few kinds of sounds, complemented by other sources of information (presence detection, fall detection, etc.) could allow for a better monitoring of the person's activities that leads to a better detection of dangerous situations. We first had been interested in methods from the Speaker Recognition and Verification field. As part of this, we have experimented methods based on GMM and SVM. We had particularly tested a Sequence Discriminant SVM kernel called SVM-GSL (SVM GMM Super Vector Linear Kernel). SVM-GSL is a combination of GMM and SVM whose basic idea is to map a sequence of vectors of an arbitrary length into one high dimensional vector called a Super Vector and used as an input of an SVM. Experiments had been carried out using a locally created sound database (containing 18 sound classes for over 1000 records), then using the Sweet-Home project's corpus. Our daily sounds recognition system was integrated into a more complete system that also performs a multi-channel sound detection and speech recognition. These first experiments had all been performed using one kind of acoustical coefficients, MFCC coefficients. Thereafter, we focused on the study of other families of acoustical coefficients. The aim of this study was to assess the usability of other acoustical coefficients for environmental sounds recognition. Our motivation was to find a few representations that are simpler and/or more effective than the MFCC coefficients. Using 15 different acoustical coefficients families, we have also experimented two approaches to map a sequence of vectors into one vector, usable with a linear SVM. The first approach consists of computing a set of a fixed number of statistical coefficients and use them instead of the whole sequence. The second one, which is one of the novel contributions of this work, makes use of a discretization method to find, for each feature within an acoustical vector, the best cut points that associates a given class with one or many intervals of values. The likelihood of the sequence is estimated for each interval. The obtained likelihood values are used to build one single vector that replaces the sequence of acoustical vectors. The obtained results show that a few families of coefficients are actually more appropriate to the recognition of some sound classes. For most sound classes, we noticed that the best recognition performances were obtained with one or many families other than MFCC. Moreover, a number of these families are less complex than MFCC. They are actually a one-feature per frame acoustical families, whereas MFCC coefficients contain 16 features per frame

The field of speech recognition has during the last decade left the re- search stage and found its way in to the public market. Most computers and mobile phones sold today support dictation and transcription in a number of chosen languages.  Swedish is often not one of them. In this thesis, which is executed on behalf of the Swedish Radio, an Automatic Speech Recognition model for Swedish is trained and the performance evaluated. The model is built using the open source toolkit Kaldi.  Two approaches of training the acoustic part of the model is investigated. Firstly, using Hidden Markov Model and Gaussian Mixture Models and secondly, using Hidden Markov Models and Deep Neural Networks. The later approach using deep neural networks is found to achieve a better performance in terms of Word Error Rate. / De senaste åren har olika tillämpningar inom människa-dator interaktion och främst taligenkänning hittat sig ut på den allmänna marknaden. Många system och tekniska produkter stöder idag tjänsterna att transkribera tal och diktera text. Detta gäller dock främst de större språken och sällan finns samma stöd för mindre språk som exempelvis svenskan. I detta examensprojekt har en modell för taligenkänning på svenska ut- vecklas. Det är genomfört på uppdrag av Sveriges Radio som skulle ha stor nytta av en fungerande taligenkänningsmodell på svenska. Modellen är utvecklad i ramverket Kaldi. Två tillvägagångssätt för den akustiska träningen av modellen är implementerade och prestandan för dessa två är evaluerade och jämförda. Först tränas en modell med användningen av Hidden Markov Models och Gaussian Mixture Models och slutligen en modell där Hidden Markov Models och Deep Neural Networks an- vänds, det visar sig att den senare uppnår ett bättre resultat i form av måttet Word Error Rate.

In this thesis a clustering of the Stockholm county housing market has been performed using different clustering methods. Data has been derived and different geographical constraints have been used. DeSO areas (Demographic statistical areas), developed by SCB, have been used to divide the housing market in to smaller regions for which the derived variables have been calculated. Hierarchical clustering methods, SKATER and Gaussian mixture models have been applied. Methods using different kinds of geographical constraints have also been applied in an attempt to create more geographically contiguous clusters. The different methods are then compared with respect to performance and stability. The best performing method is the Gaussian mixture model EII, also known as the K-means algorithm. The most stable method when applied to bootstrapped samples is the ClustGeo-method. / I denna uppsats har en klustring av Stockholms läns bostadsmarknad genomförts med olika klustringsmetoder. Data har bearbetats och olika geografiska begränsningar har använts. DeSO (Demografiska Statistiska Områden), som utvecklats av SCB, har använts för att dela in bostadsmarknaden i mindre regioner för vilka områdesattribut har beräknats. Hierarkiska klustringsmetoder, SKATER och Gaussian mixture models har tillämpats. Metoder som använder olika typer av geografiska begränsningar har också tillämpats i ett försök att skapa mer geografiskt sammanhängande kluster. De olika metoderna jämförs sedan med avseende på kvalitet och stabilitet. Den bästa metoden, med avseende på kvalitet, är en Gaussian mixture model kallad EII, även känd som K-means. Den mest stabila metoden är ClustGeo-metoden.

Positron emission tomography (PET) is a non-invasive imaging technique which utilizes positron-emitting radiopharmaceuticals (PERs) to characterize biological processes in tissues of interest. A PET scanner is usually composed of multiple scintillation crystal detectors placed in a ring so as to capture coincident photons from a position annihilation. These detectors require a crystal lookup table (CLUT) to map the detector response to the crystal of interaction. These CLUTs must be accurate, lest events get mapped to the wrong crystal of interaction degrading the final image quality. This work describes an automated algorithm, for CLUT generation, focused around Gaussian Mixture Models (GMM) with Thin Plate Splines (TPS). The algorithm was tested with flood image data collected from 16 detectors. The method maintained at least 99.8% accuracy across all tests. This method is considerably faster than manual techniques and can be adapted to different detector configurations. / February 2016

Current manufacturing process controls are principally based only on statistical performance. The next evolution is to make physics based models combined with the state of the art sensors and actuators to control the manufacturing processes. In this paper, metal inert gas welding is used as an example of how the first steps in developing a reliable estimation technique to implement a physics based controller. The weld bead geometry will be the main focus because it is crucial to creating a quality weld. This paper uses an IR camera to generate and evaluate multiple weld bead width estimation techniques and characterizes their corresponding standard deviations. Also a Gaussian Mixture Model (GMM) is used to fit the temperature linescan data to fit an analytical function to the numerical data. The GMM is then used to estimate the weld bead width. Finally, the optimal linescan location is calculated to produce the best possible weld bead estimation. The result is that only one of the estimation techniques actually follows a step input and vi the optimal linescan location is 4 mm from the back of the arc. Furthermore, the GMM provides an excellent fit to the temperature linescan, but does not increase the accuracy of the estimate. / text

<div>The space around the Earth is becoming increasingly populated with a growth in number of launches and proliferation of debris. Currently, there are around 44,000 objects (with a minimum size of 10cm) orbiting the Earth as per the data made publicly available by the US strategy command (USSTRATCOM). These objects include active satellites and debris. The number of these objects are expected to increase rapidly in future from launches by companies in the private sector. For example, SpaceX is expected to deploy around 12000 new satellites in the LEO region to develop a space-based internet communication system. Hence in order to protect active space assets, tracking of all the objects is necessary. Probabilistic tracking methods have become increasingly popular for solving the multi-target tracking problem in Space Situational Awareness (SSA). This thesis studies one such technique known as the GM-PHD filter, which is an algorithm which estimates the number of objects and its states when non-perfect measurements (noisy measurements, false alarms) are available. For Earth orbiting objects, especially those in Geostationary orbits, ground based optical sensors are a cost-efficient way to gain information.In this case, the likelihood of gaining target-generated measurements depend on the probability of detection (p_D) of the target.An accurate modeling of this quantity is essential for an efficient performance of the filter. p_D significantly depends on the amount of light reflected by the target towards the observer. The reflected light depends on the relative position of the target with respect to the Sun and the observer, the shape, size and reflectivity of the object and the relative orientation of the object towards Sun and the observer. The estimation of the area and reflective properties of the object is in general, a difficult process. Uncontrolled objects, for example, start tumbling and no information regarding the attitude motion can be obtained. In addition, the shape can change because of disintegration and erosion of the materials. For the case of controlled objects, given that the object is stable, some information on the attitude can be obtained. But materials age in space which changes the reflective properties of the materials. Also, exact shape models for these objects are rare. Moreover,, area can never be estimated with optical measurements or any other measurements, as it is always albedo-area i.e., reflectivity times area that can be measured.</div><div> The purpose of this work is to design a variation of the GM-PHD filter which accounts for the uncertainty in p_D as the original GM-PHD filter designed by Vo and Ma assumes p_D as a constant. It is validated that the proposed method improves the filter performance when there is an uncertainty in area(hence uncertainty in p_D) of the targets. In the tested cases, the uncertainty in p_D was modeled as an uncertainty in area while assuming that the targets are spherical and that the reflectivity of the targets is constant. It is seen that a model mismatch in p_D affects the filter performance significantly and the proposed method improves the performance of the filter in all cases.</div>