Usage of Unmanned Aerial Vehicles (UAVs) is growing rapidly in a wide range of consumer applications, as they prove to be both autonomous and flexible in a variety of environments and tasks. However, this versatility and ease of use also brings a rapid evolution of threats by malicious actors that can use UAVs for criminal activities, converting them to passive or active threats. The need to protect critical infrastructures and important events from such threats has brought advances in counter UAV (c-UAV) applications. Nowadays, c-UAV applications offer systems that comprise a multi-sensory arsenal often including electro-optical, thermal, acoustic, radar and radio frequency sensors, whose information can be fused to increase the confidence of threat’s identification. Nevertheless, real-time surveillance is a cumbersome process, but it is absolutely essential to detect promptly the occurrence of adverse events or conditions. To that end, many challenging tasks arise such as object detection, classification, multi-object tracking and multi-sensor information fusion. In recent years, researchers have utilized deep learning based methodologies to tackle these tasks for generic objects and made noteworthy progress, yet applying deep learning for UAV detection and classification is considered a novel concept. Therefore, the need to present a complete overview of deep learning technologies applied to c-UAV related tasks on multi-sensor data has emerged. The aim of this paper is to describe deep learning advances on c-UAV related tasks when applied to data originating from many different sensors as well as multi-sensor information fusion. This survey may help in making recommendations and improvements of c-UAV applications for the future.
The use of Convolutional Neural Networks (CNNs) as a feature learning method for Human Activity Recognition (HAR) is becoming more and more common. Unlike conventional machine learning methods, which require domain-specific expertise, CNNs can extract features automatically. On the other hand, CNNs require a training phase, making them prone to the cold-start problem. In this work, a case study is presented where the use of a pre-trained CNN feature extractor is evaluated under realistic conditions. The case study consists of two main steps: (1) different topologies and parameters are assessed to identify the best candidate models for HAR, thus obtaining a pre-trained CNN model. The pre-trained model (2) is then employed as feature extractor evaluating its use with a large scale real-world dataset. Two CNN applications were considered: Inertial Measurement Unit (IMU) and audio based HAR. For the IMU data, balanced accuracy was 91.98% on the UCI-HAR dataset, and 67.51% on the real-world Extrasensory dataset. For the audio data, the balanced accuracy was 92.30% on the DCASE 2017 dataset, and 35.24% on the Extrasensory dataset.
Deep learning techniques such as Convolutional Neural Networks (CNNs) have shown good results in activity recognition. One of the advantages of using these methods resides in their ability to generate features automatically. This ability greatly simplifies the task of feature extraction that usually requires domain specific knowledge, especially when using big data where data driven approaches can lead to anti-patterns. Despite the advantage of this approach, very little work has been undertaken on analyzing the quality of extracted features, and more specifically on how model architecture and parameters affect the ability of those features to separate activity classes in the final feature space. This work focuses on identifying the optimal parameters for recognition of simple activities applying this approach on both signals from inertial and audio sensors. The paper provides the following contributions: (i) a comparison of automatically extracted CNN features with gold standard Human Crafted Features (HCF) is given, (ii) a comprehensive analysis on how architecture and model parameters affect separation of target classes in the feature space. Results are evaluated using publicly available datasets. In particular, we achieved a 93.38% F-Score on the UCI-HAR dataset, using 1D CNNs with 3 convolutional layers and 32 kernel size, and a 90.5% F-Score on the DCASE 2017 development dataset, simplified for three classes (indoor, outdoor and vehicle), using 2D CNNs with 2 convolutional layers and a 2x2 kernel size.
Speech Activity Detection (SAD) plays an important role in mobile communications and automatic speech recognition (ASR). Developing efficient SAD systems for real-world applications is a challenging task due to the presence of noise. We propose a new approach to SAD where we treat it as a twodimensional multilabel image classification problem. To classify the audio segments, we compute their Short-time Fourier Transform spectrograms and classify them with a Convolutional Recurrent Neural Network (CRNN), traditionally used in image recognition. Our CRNN uses a sigmoid activation function, max-pooling in the frequency domain, and a convolutional operation as a moving average filter to remove misclassified spikes. On the development set of Task 1 of the 2019 Fearless Steps Challenge, our system achieved a decision cost function (DCF) of 2.89%, a 66.4% improvement over the baseline. Moreover, it achieved a DCF score of 3.318% on the evaluation dataset of the challenge, ranking first among all submissions.
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