Mapping Extended Landmarks for Radar SLAM

Simultaneous localization and mapping (SLAM) using automotive radar sensors can provide enhanced sensing capabilities for autonomous systems. In SLAM applications, with a greater requirement for the environment map, information on the extent of landmarks is vital for precise navigation and path planning. Although object extent estimation has been successfully applied in target tracking, its adaption to SLAM remains unaddressed due to the additional uncertainty of the sensor platform, bias in the odometer reading, as well as the measurement non-linearity. In this paper, we propose to incorporate the Bayesian random matrix approach to estimate the extent of landmarks in radar SLAM. We describe the details for implementation of landmark extent initialization, prediction and update. To validate the performance of our proposed approach we compare with the model-free ellipse fitting algorithm with results showing more consistent extent estimation. We also demonstrate that exploiting the landmark extent in the state update can improve localization accuracy.

Landmark Management in the Application of Radar SLAM

This paper focuses on efficient landmark management in radar based simultaneous localization and mapping (SLAM). Landmark management is necessary in order to maintain a consistent map of the estimated landmarks relative to the estimate of the platform's pose. This task is particularly important when faced with multiple detections from the same landmark and/or dynamic environments where the location of a landmark can change. A further challenge with radar data is the presence of false detections. Accordingly, we propose a simple yet efficient rule based solution for radar SLAM landmark management. Assuming a low-dynamic environment, there are several steps in our solution: new landmarks need to be detected and included, false landmarks need to be identified and removed, and the consistency of the landmarks registered in the map needs to be maintained. To illustrate our solution, we run an extended Kalman filter SLAM algorithm in an environment containing both stationary and temporally stationary landmarks. Our simulation results demonstrate that the proposed solution is capable of reliably managing landmarks even when faced with false detections and multiple detections from the same landmark.

An Adaptive All-Pass Filter for Time-Varying Delay Estimation

The focus of this paper is the estimation of a delay between two signals. Such a problem is common in signal processing and particularly challenging when the delay is non-stationary in nature. Our proposed solution is based on an all-pass filter framework comprising of two elements: a time delay is equivalent to all-pass filtering and an all-pass filter can be represented in terms of a ratio of a finite impulse response (FIR) filter and its time reversal. Using these elements, we propose an adaptive filtering algorithm with an LMS style update that estimates the FIR filter coefficients and the time delay. Specifically, at each time step, the algorithm updates the filter coefficients based on a gradient descent update and then extracts an estimate of the time delay from the filter. We validate our algorithm on synthetic data demonstrating that it is both accurate and capable of tracking time-varying delays.

Network Modeling of Short Over-Dispersed Spike-Counts: A Hierarchical Parametric Empirical Bayes Framework

Accurate statistical models of neural spike responses can characterize the information carried by neural populations. Yet, challenges in recording at the level of individual neurons commonly results in relatively limited samples of spike counts, which can lead to model overfitting. Moreover, current models assume spike counts to be Poisson-distributed, which ignores the fact that many neurons demonstrate over-dispersed spiking behavior. The Negative Binomial Generalized Linear Model (NB-GLM) provides a powerful tool for modeling over-dispersed spike counts. However, maximum likelihood based standard NB-GLM leads to unstable and inaccurate parameter estimations. Thus, we propose a hierarchical parametric empirical Bayes method for estimating the parameters of the NB-GLM. Our method integrates Generalized Linear Models (GLMs) and empirical Bayes theory to: (1) effectively capture over-dispersion nature of spike counts from retinal ganglion neural responses; (2) significantly reduce mean square error of parameter estimations when compared to maximum likelihood based method for NB-GLMs; (3) provide an efficient alternative to fully Bayesian inference with low computational cost for hierarchical models; and (4) give insightful findings on both neural interactions and spiking behaviors of real retina cells. We apply our approach to study both simulated data and experimental neural data from the retina. The simulation results indicate the new framework can efficiently and accurately retrieve the weights of functional connections among neural populations and predict mean spike counts. The results from the retinal datasets demonstrate the proposed method outperforms both standard Poisson and Negative Binomial GLMs in terms of the predictive log-likelihood of held-out data.