Bonn, October 8th – 10th, 2014 9th Workshop Sensor Data Fusion: Trends, Solutions, and Applications Technical Program Prior to its technological realization or the scientific reflection on it, sensor data fusion is an omnipresent capability. The result is a mental model of their individual environment, the basis of behaving appropriately. SDF Workshop 2014, the 9th in a row of annual workshops, addresses numerous application aspects of sensor data fusion, as well as methodology oriented topics. Its 20 presentations are grouped into 7 sessions. Particular emphasis is placed on advances in the theory of estimation and tracking, emitter localization, ground surveillance, resource management, and selected aspects of higher–level fusion. The contributions from industry, academia, and research institutions let us expect an exchange of ideas, lively discussions, and mutual cross–fertilization. For more detailed information see: www.fkie.fraunhofer.de/sdf2014. Location Universit¨atsclub Bonn e.V., Giergasse 9, 53113 Bonn, Germany. www.uniclub-bonn.de Organisation Executive Chairs: Wolfgang Koch, Fraunhofer FKIE and University of Bonn, w.koch@ieee.org; Peter Willett, University of Connecticut, USA, p.willett@ieee.org. Technical Program Chair: Felix Govaers, Fraunhofer FKIE, Germany, felix.govaers@fkie.fraunhofer.de Publicity Chair: Stefano Coraluppi, Systems and Technology Research (STR), USA, stefano.coraluppi@ieee.org. Technical Program Committee Christoph ARNDT, Ford Research Center Aachen, GER; J¨ urgen BEYERER, Fraunhofer IOSB, GER; Chee CHONG, Consultant, CA, USA; Daniel CREMERS, Technical University Munich, GER; Darin DUNHAM, Vectraxx, ¨ VA, USA; Frank EHLERS, FWG, GER; Herve FARGETON, DGA Tn, FR; Dietrich FRANKEN, Cassidian Electronics, GER; Jesus GARCIA, University Carlos III, Madrid, ES; Fredrik GUSTAFSSON, Link¨oping University, SW; Uwe D. HANEBECK, Karlsruhe Institute of Technology, GER; Michael KIEFNER, Cassidian Optronics, GER; Reinhard KLEIN, University of Bonn, GER; Dirk KOLB, MEDAV, GER; Wolfgang KONLE, Cassidian Systems, GER; Dann LANEUVILLE, DCNS, FR; Simon MASKELL, University of Liverpool, UK; Lyudmila MIHAYLOVA, University of ˇ Sheffield, UK; Shozo MORI, ST Research, CA, USA; Darko MUSICKI, University of Hanyang, KOR; Gee Wah NG, DSO, SGP; Vincent NIMIER, ONERA, FR; Felix OPTIZ, Cassidian Systems, GER; Umut ORGUNER, University of Ankara, TR; Eicke RUTHOTTO, Atlas, GER; Ulrich SCHEUNERT, FusionSystems, GER; Lauro SNIDARO, Univer¨ sity of Udine, IT; Roy L. STREIT, Metron Inc., USA; J¨orn THIELECKE, Universit¨at Erlangen, GER; Reiner THOMA, Technical University Ilmenau, GER; Martin ULMKE, Fraunhofer FKIE, GER; Anthony WEISS, Tel Aviv University, IS; Bin YANG, University of Stuttgart, GER; Abdelhak ZOUBIR, Technische Universit¨at Darmstadt, GER. 1 Bonn, October 8th – 10th, 2014 Day #1 – Wednesday October 8th Tutorial: Wolfgang Koch 10:00 – 12:00 A tutorial introduction to advanced methods and applications in sensor data fusion Session #1: Advances in Methodology 13:30 – 14:00 Darko Muˇsicki† , Taek Lyul Song, and Roy Streit Generating Function Derivation of the IPDA Filter 14:00 – 14:30 Dietrich Fr¨ anken Some Notes on Gaussian Tracking of Objects exhibiting Correlated Motion 14:30 – 15:00 Igor Gilitschenski and Uwe D. Hanebeck A Direct Method for Checking Overlap of Two Hyperellipsoids Session #2: Indoor Tracking and Navigation 15:30 – 16:00 Daniel Bender, Marek Schikora, J¨ urgen Sturm, and Daniel Cremers INS–Camera Calibration without Ground Control Points 16:00 – 16:30 Naveed Salman, Nayef Alsindi, Lyudmila Mihaylova, and A. H. Kemp Super Resolution WiFi Indoor Localization and Tracking 16:30 – 17:00 Hagen Borstell, Jewgeni Kluth, Marcel Jaeschke, Cathrin Plate, Bernd Gebert, and Klaus Richter Pallet Monitoring System Based on a Heterogeneous Sensor Network for Transparent Warehouse Processes Bonn, October 8th – 10th, 2014 Day #2 – Thursday October 9th Keynote: Peter Willett 09:00 – 10:00 Maximum–Likelihood Methods in Target Tracking and Fundamental Results on Trackability Session #3: Pattern Recognition and Context Fusion 10:30 – 11:00 C. Y. Liu, Y. Zhou, F. de Melo, and S. Maskell Probabilistic Graphical Detector Fusion for Localization of Faces and Facial Parts 11:00 – 11:30 Florian Faion, Antonio Zea, Marcus Baum, and Uwe D. Hanebeck Bayesian Estimation of Line Segments 11:30 – 12:00 Snezhana Jovanoska, Felix Govaers, Reiner Thom¨ a, and Wolfgang Koch Dynamic Occlusion Handling in the PHD Filter for Range–only Tracking: Proof of concept Session #4: Emitter Localization and Tracking 13:30 – 14:00 14:00 – 14:30 14:30 – 15:00 Christian Steffes Field Experiments for TDoA–based Localization of GSM Base Stations Martin Michaelis, Martina Br¨ otje, and Frank Ehlers Case Study: Limitations of Parameter Estimation for Non-Cooperative Multistatic Active Sonar by Association Ambiguities Dieter Nagel and Stephen Smith Using Kinematic Ranging to Support the Tracker Session #5: Multi–Sensor Fusion and Applications 15:30 – 16:00 16:00 – 16:30 16:30 – 17:00 17:00 Tae Han Kim, Taek Lyul Song and Darko Muˇsicki† Out–of–Sequence Measurements Update using the Information Filter Approach Max Kr¨ uger Sensor Failure–Test in Repeatedly Performed Bayesian Identification Tasks in Air Surveillance A. Boronahin, Y. Filatov, D. Larionov, L.Podgronaya, and R. Shalymov Fusion of heterogeneous sensor information for providing safety of railway transport Get Together Piano recital Dinner Bonn, October 8th – 10th, 2014 Day #3 – Friday October 10th Session #6: Advances in Estimation Theory and Tracking 1 09:00 – 09:30 Naveed Salman, Lyudmila Mihaylova, and A. H. Kemp Localization of Multiple Nodes Based on Correlated Measurements and Shrinkage Estimation 09:30 – 10:00 Gerhard Kurz, Igor Gilitschenski, and Uwe D. Hanebeck Efficient Evaluation of the Probability Density Function of a Wrapped Normal Distribution 10:00 – 10:30 Muhammad Altamash Khan and Martin Ulmke Non–Linear & Non–Gaussian State Estimation using Log–Homotopy Based Particle Flow Filters Session #7: Advances in Estimation Theory and Tracking 2 11:00 – 11:30 Christoph Degen The Generalized Intensity Filter 11:30 – 12:00 Lucila Patino–Studencka, J¨ orn Thielecke, and G¨ unter Rohmer SLAM for Pseudolite System Comprising Unsynchronised Transmitters 12:00 – 12:30 Antonio Zea, Florian Faion, and Uwe D. Hanebeck Tracking Extended Objects using Extrusion Random Hypersurface Models 12:30 – 13:00 Felix Govaers and Wolfgang Koch On the Super Position Principle of Linear Gaussian Estimation 13:00 End of SDF Workshop 2014