A novel method is proposed for generic target tracking by audio measurements from a microphone array. To cope with noisy environments characterized by persistent and high energy interfering sources, a classification map (CM) based on spectral signatures is calculated by means of a machine learning algorithm. Next, the CM is combined with the acoustic map, describing the spatial distribution of sound energy, in order to obtain a cleaned joint map in which contributions from the disturbing sources are removed. A likelihood function is derived from this map and fed to a particle filter yielding the target location estimation on the acoustic image. The method is tested on two real environments, addressing both speaker and vehicle tracking. The comparison with a couple of trackers, relying on the acoustic map only, shows a sharp improvement in performance, paving the way to the application of audio tracking in real challenging environments.
Capturing the essential characteristics of visual objects by considering how their features are inter-related is a recent philosophy of object classification. In this paper, we embed this principle in a novel image descriptor, dubbed Heterogeneous Auto-Similarities of Characteristics (HASC). HASC is applied to heterogeneous dense features maps, encoding linear relations by covariances and nonlinear associations through information-theoretic measures such as mutual information and entropy. In this way, highly complex structural information can be expressed in a compact, scale invariant and robust manner. The effectiveness of HASC is tested on many diverse detection and classification scenarios, considering objects, textures and pedestrians, on widely known benchmarks Brodatz,
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