Title: Cooperative Self-calibration in Distributed Fusion Networks
Speaker: Murat Üney
Date/Time: Monday, January 26, 13:40-14:30
Place: FENS G032
Abstract: Multi-sensor exploitation is a key capability for developing and enhancing situation awareness in complex, dynamic environments. It is extremely important for sensor calibration (or, registration) and fusion algorithms feature scalability with the problem size when processing data collected across a network of sensors. In this talk, we introduce a self-calibration algorithm for networked sensor platforms which are located disparately and collect cluttered and noisy detections from an unknown number of objects. We develop node-wise separable parameter likelihoods that are capable of incorporating multi-object information without the need to find explicit object-measurement associations and updated recursively in linear complexity with the number of measurements. The probabilistic model obtained by using these likelihoods in a Markov Random Field over the network connectivity graph facilitates self-calibration via local computations and nearest neighbour message passings. The resulting algorithm avoids centralisation at any degree and features both multi-object and multi-sensor scalability. We demonstrate the efficacy of this approach for the self-localisation problem through simulations with multiple objects and complex measurement models.
Bio: Murat Üney is a Research Fellow in the School of Engineering, the University of Edinburgh, Edinburgh. Between 2010 and 2013 he was with Heriot-Watt University, Edinburgh, and prior to that he was a member of the Signal Processing and Information Systems (SPIS) Laboratory, Sabancı University, İstanbul. He received his Ph.D. degree in signal processing and control from the Middle East Technical University (ODTÜ), Ankara, Turkey, in 2009. He has industrial research and development experience both in the aerospace and telecommunications sector. His research interests are in the broad scope of statistical signal and information processing with a particular emphasis on distributed, multi-modal and resource constrained problem settings, and sensor fusion applications.