Microwave systems have a number of promising applications in surveillance and monitoring systems. The main advantage of microwave systems is their ability to detect targets at distance under adverse conditions such as dim, smoky, and humid environments. Specifically, the wide bandwidth of ultra-wideband radar enables high range resolution. In a previous study, we proposed an accurate shape estimation algorithm for multiple targets using multiple ultra-wideband Doppler interferometers. However, this algorithm produces false image artifacts under conditions with severe interference. The present paper proposes a technique to suppress such false images by detecting inconsistent combinations of the radial velocity and time derivative of image positions. We study the performance of the proposed method through numerical simulations of a two-dimensional section of a moving human body, and demonstrate the remarkable performance of the proposed method in suppressing false image artifacts in many scenarios.

The “Blind Men and an Elephant” is an old Indian story about a group of blind men who encounter an elephant and do not know what it is. This story describes the difficulties of understanding a large concept or global view based on only local information. Modern technologies enable us to easily obtain and retain local information. However, simply collecting local information does not give us a global view, as evident in this old story. This paper gives a concrete model of this story on the plane to theoretically and mathematically discuss it. It analyzes what information we can obtain from collected local information. For a convex target object modeling the elephant and a convex sensing area, it is proven that the size and perimeter length of the target object are the only parameters that can be observed by randomly deployed sensors modeling the blind men. To increase the number of observable parameters, this paper argues that non-convex sensing areas are important and introduces composite sensor nodes as an approach to implement non-convex sensing areas. The paper also derives a model on the discrete space and analyzes it. The analysis results on the discrete space are applicable to some network related issues such as link quality estimation in a part of a network based on end-to-end probing.

We describe a parameter estimation method for a target object in an area that sensors monitor. The parameters to be estimated are the perimeter length, size, and parameter determined by the interior angles of the target object. The estimation method does not use sensor location information, only the binary information on whether each sensor detects the target object. First, the sensing area of each sensor is assumed to be line-segment-shaped, which is a model of an infrared distance measurement sensor. Second, based on the analytical results of assuming line-segment-shaped sensing areas, we developed a unified equation that works with general sensing areas and general target-object shapes to estimate the parameters of the target objects. Numerical examples using computer simulation show that our method yields accurate results.

UWB (ultra wide-band) pulse radar is a promising candidate for surveillance systems. The fast SEABED (Shape Estimation Algorithm based on BST and Extraction of Directly scattered waves) imaging algorithm is deployed in the application of UWB pulse radar in fields that require real-time operations. However, since the SEABED algorithm uses signals received at multiple locations, this method either needs to scan antennas or to install many antennas. Such systems are inevitably costly and unrealistic for applications such as surveillance. To overcome this problem, a revised SEABED algorithm that estimates unknown target shape based on target motion using only a pair of fixed antennas was developed. However, the method cannot be used when the target moves arbitrarily because it assumes the target motion is parallel to the baseline of the pair of antennas. In this paper, we propose a new UWB radar imaging algorithm that is applicable even for targets with arbitrary motion. The proposed method introduces another antenna which is added to the pair of antennas used in the revised SEABED, and estimates unknown target motion based on the target surface using the three antennas. Next, the proposed method applies the SEABED imaging algorithm to the estimated motion and obtains the target image. Some numerical simulations establishes that the proposed method can accurately estimate the target shape even under severe conditions.

The UWB (ultra-wideband) pulse radar is a promising candidate as an environment measurement method for rescue robots. Radar imaging to locate a nearby target is known as an ill-posed inverse problem, on which various studies have been done. However, conventional algorithms require long computational time, which makes it difficult to apply them to real-time operations of robots. We have proposed a fast radar imaging algorithm, the SEABED algorithm, for UWB pulse radars. This algorithm is based on a reversible transform, BST (Boundary Scattering Transform), between the target shape and the observed data. This transform enables us to estimate target shapes quickly and accurately in a noiseless environment. However, in a noisy environment the image estimated by the SEABED algorithm is degraded because BST utilizes differential operations. We have also proposed an image stabilization method, which utilizes the upper bound of the smoothness of received data. This method can be applied only to convex objects, not to concave ones. In this paper, we propose a fractional BST, which is obtained by expanding the conventional BST, and an image stabilization method by using the fractional BST. We show that the estimated image can be stabilized regardless of the shape of target.

UWB pulse radars that offer target shape estimation are promising as imaging techniques for household or rescue robots. We have already proposed an efficient algorithm for a shape estimation method SEABED which is a fast algorithm based on a reversible transform. SEABED extracts quasi wavefronts from received signals with the filter that matches the transmitted waveform. However, the scattered waveform is, in general, different from the transmitted one depending on the shape of targets. This difference causes estimation errors in SEABED. In this paper, we propose an accurate algorithm for a polygonal-target based on scattered waveform estimation. The proposed method is presented first, followed by results of numerical simulations and experiments that show the efficiency of the proposed method.

Imaging techniques for robots are important and meaningful in the near future. Pulse radar systems have a great potential for shape estimation and locationing of targets. They have an advantage that they can be used even in critical situations where optical techniques cannot be used. It is thus required to develop high-resolution imaging algorithms for pulse radar systems. High-resolution imaging algorithms utilize the carrier phase of received signals. However, their estimation accuracy suffers degradation due to phase rotation of the received signal because the phase depends on the shape of the target. In this paper, we propose a phase compensation algorithm for high-resolution pulse radar systems. The proposed algorithm works well with SEABED algorithm, which is a non-parametric algorithm of estimating target shapes based on a reversible transform. The theory is presented first and numerical simulation results follow. We show the estimation accuracy is remarkably improved without sacrificing the resolution using the proposed algorithm.

Environment measurement is an important issue for various applications including household robots. Pulse radars are promising candidates in a near future. Estimating target shapes using waveform data, which we obtain by scanning an omni-directional antenna, is known as one of ill-posed inverse problems. Parametric methods such as Model-fitting method have problems concerning calculation time and stability. We propose a non-parametric algorithm for high-resolution estimation of target shapes in order to solve the problems of parametric algorithms.