37200874
Some remarks on Kalman filters for the multisensor fusion
Abstract Multisensor data fusion has found widespread application in industry and commerce. The purpose of data fusion is to produce an improved model or estimate of a system from a set of independent data sources. There are various multisensor data fusion approaches, of which Kalman filtering is one of the most significant. Methods for Kalman filter based data fusion includes measurement fusion and state fusion. This paper gives first a simple a review of both measurement fusion and state fusion, and secondly proposes two new methods of state fusion based on fusion procedures at the prediction and update level, respectively, of the Kalman filter. The theoretical derivation for these algorithms are derived. To illustrate their application, a simple example is performed to evaluate the proposed methods and compare their performance with the conventional state fusion method and measurement fusion methods.
2658593
A Probabilistic Framework for SVM Regression and Error Bar Estimation
In this paper, we elaborate on the well-known relationship between Gaussian Processes (GP) and Support Vector Machines (SVM) under some convex assumptions for the loss functions. This paper concentrates on the derivation of the evidence and error bar approximation for regression problems. An error bar formula is derived based on the ∈-insensitive loss function.
5001662
On a Class of Support Vector Kernels Based on Frames in Function Hilbert Spaces
There has been an increasing interest in kernel-based techniques, such as support vector techniques, regularization networks, and gaussian processes. There are inner relationships among those techniques, with the kernel function playing a central role. This article discusses a new class of kernel functions derived from the so-called frames in a function Hilbert space.
31972087
Sparse data aggregation in sensor networks
1839876
Discrete mobile centers
\emph{We propose a new randomized algorithm for maintaining a set of c lusters among moving nodes in the plane. Given a specified cluster radius, our algorithm selects and maintains a variable subset of the nodes as cluster centers. This subset has the property that (1) balls of the given radius centered at the chosen nodes cover all the others and (2) the number of centers selected is a constant-factor approximation of the minimum possible. As the nodes move, an event-based kinetic data structure updates the clustering as necessary. This kinetic data structure is shown to be responsive, efficient, local, and compact. The produced cover is also smooth, in the sense that wholesale cluster re-arrangements are avoided. The algorithm can be implemented without exact knowledge of the node positions, if each node is able to sense its distance to other nodes up to the cluster radius. Such a kinetic clustering can be used in numerous applications where mobile devices must be interconnected into an ad-hoc network to collaboratively perform some task.}
11590179
GLIDER: gradient landmark-based distributed routing for sensor networks
We present gradient landmark-based distributed routing (GLIDER), a novel naming/addressing scheme and associated routing algorithm, for a network of wireless communicating nodes. We assume that the nodes are fixed (though their geographic locations are not necessarily known), and that each node can communicate wirelessly with some of its geographic neighbors - a common scenario in sensor networks. We develop a protocol which in a preprocessing phase discovers the global topology of the sensor field and, as a byproduct, partitions the nodes into routable tiles - regions where the node placement is sufficiently dense and regular that local greedy methods can work well. Such global topology includes not just connectivity but also higher order topological features, such as the presence of holes. We address each node by the name of the tile containing it and a set of local coordinates derived from connectivity graph distances between the node and certain landmark nodes associated with its own and neighboring tiles. We use the tile adjacency graph for global route planning and the local coordinates for realizing actual inter- and intra-tile routes. We show that efficient load-balanced global routing can be implemented quite simply using such a scheme.
4242083
Lossless Data Hiding Using Histogram Shifting Method Based on Integer Wavelets
This paper proposes a histogram shifting method for image lossless data hiding in integer wavelet transform domain. This algorithm hides data into wavelet coefficients of high frequency subbands. It shifts a part of the histogram of high frequency wavelet subbands and thus embeds data by using the created histogram zero-point. This shifting process may be sequentially carried out if necessary. Histogram modification technique is applied to prevent overflow and underflow. The performance of this proposed technique in terms of the data embedding payload versus the visual quality of marked images is compared with that of the existing lossless data hiding methods implemented in the spatial domain, integer cosine transform domain, and integer wavelet transform domain. The experimental results have demonstrated the superiority of the proposed method over the existing methods. That is, the proposed method has a larger embedding payload in the same visual quality (measured by PSNR (peak signal noise ratio)) or has a higher PSNR in the same payload.
13948777
Steganalysis Based on Multiple Features Formed by Statistical Moments of Wavelet Characteristic Functions
In this paper, a steganalysis scheme based on multiple features formed by statistical moments of wavelet characteristic functions is proposed. Our theoretical analysis has pointed out that the defined n-th statistical moment of a wavelet characteristic function is related to the n-th derivative of the corresponding wavelet histogram, and hence is sensitive to data embedding. The selection of the first three moments of the characteristic functions of wavelet subbands of the three-level Haar wavelet decomposition as well as the test image has resulted in total 39 features for steganalysis. The effectiveness of the proposed system has been demonstrated by extensive experimental investigation. The detection rate for Cox et al.'s non-blind spread spectrum (SS) data hiding method, Piva et al.'s blind SS method, Huang and Shi's 8×8 block SS method, a generic LSB method (as embedding capacity being 0.3 bpp), and a generic QIM method (as embedding capacity being 0.1 bpp) are all above 90% over all of the 1096 images in the CorelDraw image database using the Bayes classifier. Furthermore, when these five typical data hiding methods are jointly considered for steganalysis, i.e., when the proposed steganalysis scheme is first trained sequentially for each of these five methods, and is then tested blindly for stego-images generated by all of these methods, the success classification rate is 86%, thus pointing out a new promising approach to general blind steganalysis. The detection results of steganalysis on Jsteg, Outguess and F5 have further demonstrated the effectiveness of the proposed steganalysis scheme.