Background Removal in Array-

Based UWB Radars for Landmine

Detection
lvaro Muoz Mayordomo

Delft University of Technology, The Netherlands

Public University of Navarre, Spain

Dr. Miguel ngel Gmez Laso

Dr. Alexander G. Yarovoy
 CONTENTS
I. INTRODUCTION: The Landmine Trouble Worldwide

II. GROUND PENETRATING RADAR IN HUMANITARIAN

DEMINING

III. SCOPE OF THIS THESIS: Clutter Removal

IV. LITERATURE OVERVIEW AND ANALYSIS OF TECHNIQUES

V. METHODS COMPARISON

VI. INFLUENCE OF TECHNIQUES ON LANDMINE DETECTION

VII. CONCLUSIONS AND FUTURE WORK

04/03/17 2
 Background Removal in Array-
Based UWB Radars for Landmine
Detection

INTRODUCTION: The Landmine

Trouble Worldwide

INTRODUCTION
04/03/17 3
 INTRODUCTION: The Landmine
Trouble Worldwide

Foremost side effect after wartime Forgotten

landmines
At least 60 million undetected terrestrial
landmines spread over countries in every continent
70 people injured every day (26000 victims a year)
90% civilian population
Major problem in agricultural-based regions.
Cause of displacement
Obstacle to reconstruction after hostilities

INTRODUCTION
04/03/17 4
 INTRODUCTION: The Landmine
Trouble Worldwide

Humanitarian Demining Restoring land to the

population
Current manual humanitarian demining rate ~ 100
thousand/year
Cost of removing a single landmine 100-300 times
higher than production cost.
Removing 5000 landmines = one dead person and two
injured.
Sanitary expenses = 10 hundred thousand euros per
year
INTRODUCTION
04/03/17 5
 INTRODUCTION: The Landmine
Trouble Worldwide

Traditional
Demining Techniques

Prodders

Metal Detectors

INTRODUCTION
04/03/17 6
 INTRODUCTION: The Landmine
Trouble Worldwide

Traditional Demining Techniques

Mine-Detection dogs

Ground-engaging machines
Flails
Rollers
Millers and Tillers
Sifters
Dozers and graders

INTRODUCTION
04/03/17 7
 INTRODUCTION: The Landmine
Trouble Worldwide

Innovative Demining Techniques

Chemical sensing
Infrared imaging
Biosensing and explosive particle detection
Nuclear and atomic methods
Passive millimeter wave sensors
Acoustic impulses
Ground Penetrating Radar
INTRODUCTION
04/03/17 8
 Background Removal in Array-
Based UWB Radars for Landmine
Detection

GPR IN HUMANITARIAN
DEMINING

04/03/17 9
GPR IN HUMANITARIAN DEMINING

Basic principles

Time domain or impulse GPR

Discrete pulses of nanosecond duration
Digitizes GHz sample rates

Frequency domain GPR

Series of frequency steps
Chirp
Conversion time domain

INTRODUCTION GPR
04/03/17 10
GPR IN HUMANITARIAN DEMINING

An t sn t bn t e
Basic principles
1500
Majority of today's GPR technology
Antenna Crosstalkbased on Impulse
Radar 1000
Ground Bounce
Single echo return at a position n A-scan
An t sn t bn t e
Amplitude [mV]

500

Target Response
0

Recording-500time Depth range

Antenna Crosstalk
Expressed
-1000in Volts
0 0.2 0.4 0.6 0.8 1
Time [s] x 10
-8

INTRODUCTION GPR
04/03/17 11
GPR IN HUMANITARIAN DEMINING

Basic principles

Whole ensemble of A-scans B-scan

2D subsurface Propagation time

picture Along-scan Position

3D subsurface Propagation time

picture Along-scan Position
Signal Amplitude

INTRODUCTION GPR
04/03/17 12
GPR IN HUMANITARIAN DEMINING

Basic principles

-9 B-Scan -9 B-Scan
x 10 x 10
0 0
300
1 1
100
200
2 2
100
3 3
50
4 0 4
Time [s]

Time [s]
5 -100 5
0
6 -200 6

7 7
-300
-50
8 8
-400
9 9
-500 -100
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.1 0.2 0.3 0.4 0.5 0.6
Position [m] Position [m]

RAW DATA DATA AFTER

SUBTRACTION
INTRODUCTION GPR
04/03/17 13
GPR IN HUMANITARIAN DEMINING

Basic principles

-9 B-Scan
x 10
0

1
100
2

3
50
4
Time [s]

5
0
6

7
-50
8

9
-100
0 0.1 0.2 0.3 0.4 0.5 0.6
Position [m]

DATA AFTER DATA AFTER FOCUSING

SUBTRACTION
INTRODUCTION GPR
04/03/17 14
GPR IN HUMANITARIAN DEMINING

IRCTR UWB Mini-Array GPR

Global Project named CADMIUM
IRCTR-TNO collaboration
New terrestrial vehicle for landmine detection
Multisensor
Metal detector
Infrared sensor
GPS system
UWB GPR

INTRODUCTION GPR
04/03/17 15
GPR IN HUMANITARIAN DEMINING

IRCTR UWB Mini-Array GPR

Main novelty Modular approach

Independent modules
Reduction of electronics and number of antennas
Pulse generator 500 kHz
Connected to both TX antenna and RX array

INTRODUCTION GPR
04/03/17 16
GPR IN HUMANITARIAN DEMINING

IRCTR UWB Mini-Array GPR

Choice of waveform Major role in GPR

detection

Goals

Penetration depth: Freqs<1GHz

Resolution several cm: large bandwith 3GHZ
Low early and late ringing

INTRODUCTION GPR
04/03/17 17
 Background Removal in Array-
Based UWB Radars for Landmine
Detection

SCOPE OF THIS THESIS: Clutter

Removal

INTRODUCTION GPR Clutter Removal

04/03/17 18
 SCOPE OF THIS THESIS : Clutter
Removal

Ground Bounce and Antenna Effects

Mitigation
After Subtraction
1500 Antenna Crosstalk 15
Ground Bounce
1000 10
Ground Bounce
Amplitude [mV]

Amplitude [mV]
500 5

Target Response
0 0

Target Response
-500 -5

Antenna Crosstalk Antenna Crosstalk

-1000 -10
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Time [s] x 10
-8
Time [s] -8
x 10

INTRODUCTION GPR Clutter Removal

04/03/17 19
 SCOPE OF THIS THESIS : Clutter
Removal

Dedicated processing Extract the target signal

Deeply buried landmines

Landmine is shallowly buried or laid on the ground

Target signal and surface signal are close and overlap

Landmine is small or dielectric-made

Scattering strength is lower

INTRODUCTION GPR Clutter Removal

04/03/17 20
 SCOPE OF THIS THESIS : Clutter
Removal
Background Subtraction Topic of this thesis
Radar processing chain BG removal precedes Focusing
Always error while estimating the BG Residues
Level of residues depends on particular BG estimation
Objectives and approach
Implementation of techniques
Evaluation before Focusing
Selection Online algorithms
Offline algorithms
Evaluation after Focusing

INTRODUCTION GPR Clutter Removal

04/03/17 21
SCOPE OF THIS THESIS : Clutter
Removal
LITERATURE SURVEY

ONLINE APPROACH OFFLINE APPROACH

ALGORITHM IMPLEMENTATION

ALGORITHM TESTING

SCENARIO A SCENARIO B

SCENARIO C SCENARIO D

PERFORMANCE STUDY

SCENARIO C SCENARIO D

Signal-Background Ratio Comput. Requirements Signal-Background Ratio Comput. Requirements

EVALUATION AFTER MIGRATION

SCENARIO E

Energy-Background Ratio

INTRODUCTION GPR Clutter Removal

04/03/17 22
 Background Removal in Array-
Based UWB Radars for Landmine
Detection

LITERATURE OVERVIEW AND

ANALYSIS OF TECHNIQUES

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 23
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

Description of Test Scenarios

Data Scenario features
set
Number of Depth Type of targets
Roughness Targets
A Flat 1 Surface Metal disk, 10cm
B Flat 7 Surface Metal/Plastic cylinders and pipe 5-10cm
C Quite flat 8 5cm Metal/Plastic/Cylinder, 10cm
3 Plastic cylinders, 5.4cm
2 Plastic mines, 13cm
D Very rough 4 5cm Plastic mine 13cm; Plastic mine 8cm;
one rock; one screw
E Rough with grass 6 Semi-buried Plastic mines, 12cm
and 5cm
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 24
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

1) High Pass Filter

2) Exponential Averaging
3) Linear Prediction
4) Moving Average
5) Moving Median
6) Weighted Moving Average
7) Cylindrical Moving Average
8) Shifted and Scaled Background
1) Arbitrary Reference BG
2) Frequency Domain
3) Time Domain
9) Principal Component Analysis

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 25
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES
dy
1) FIR High Pass Filter
dx An(t)

Two contiguous A-scans

bn(t)
in background calculation
Scan
Directio 0.
Equally distributedn 5
A (t)
weights n-1

High speed
Little memory usage
sn t An t bn t 0.5 An t An 1 t

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 26
S. Nagwa, M. Bames, A moving target detection
filter for an ultra-wideband radar
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

1) FIR High Pass Filter sn t An t bn t 0.5 An t An 1 t

RAW DATA DATA AFTER

x 10
-9 B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 0 15
300
1 1
200 10
2 2
100
3 3
5
4 0 4
Time [s]

Time [s]
5 -100 5 0

6 -200 6
-5
7 7
-300
8 8 -10
-400
9 9
-500 -15
10 10
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.1 0.2 0.3 0.4 0.5 0.6
Position [m] Position [m]

Scenario A
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 27
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES
sn t An t bn t 0.5 An t An 1 t
1) FIR High Pass
FilterRAW DATA DATA AFTER
B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 300 0
4
1 250 1
3
2 200 2
150 2
3 3
100 1
4 4
Time [s]

Time [s]
50 0
5 5
0
6 6 -1
-50
7 7 -2
-100
8 8 -3
-150
9 9 -4
-200

0 0.2 0.4 0.6 0.8 1 1.2 1.4 0 0.2 0.4 0.6 0.8 1 1.2 1.4
Position [m] Position [m]

Scenario B
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 28
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

1) FIR High Pass Filtersn t An t bn t 0.5 An t An 1 t

RAW DATA DATA AFTER
x 10
-9 B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 1000 0

1 1 6
800
2 2
600 4
3 3
400
2
4 4
Time [s]

Time [s]
200
5 5 0
0
6 6
-200 -2
7 7
-400
8 8 -4
9 -600 9
-6
10 -800 10
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2
Position [m] Position [m]

Scenario C
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 29
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

1) FIR High Pass Filtersn t An t bn t 0.5 An t An 1 t

RAW DATA DATA AFTER
x 10
-9 B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 10 0

1 8 1 1.5

2 6 2 1

4 0.5
3 3
2

Time [s]
Time [s]

4 4 0
0
5 5 -0.5
-2
6 6 -1
-4
7 7 -1.5
-6
8 -8 8 -2
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Position [m] Position [m]

Scenario D
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 30
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

2) Exponential Averaging

BG function of
Previous measurement
Previous BG calculation
An-1(t), decays in the
storage with an
exponential
bn (t ) An 1 (t ) (1 )bn 1 (t )

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 31
Zetik, R., Crabbe, S., Krajnak, J., Peyerl, P., Sachs,
J., Thoma, R., Detection and localization of
persons behind obstacles using M-sequence
through-the-wall radar
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

2) Exponential Averaging

Emphasizes recent
events
Smoothes strong
variations
Low memory and CPU
required
Each t ) An 1 (tBG
bn (estimated 1 )bn 1 (t )
) (is
stored

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 32
Michael Bramberger, Roman Pflugfelder, Bernhard
Rinner, Helmut Schwabach, Bernhard Strobl,
Intelligent traffic video sensor: architecture and
applications
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

2) Exponential bn (t ) An 1 (t ) (1 )bn 1 (t )
Averaging
RAW DATA DATA AFTER
x 10
-9 B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 0
300 50
1 1
40
200
2 2
30
100
3 3 20
4 0 4 10
Time [s]

Time [s]
5 -100 5 0
6 -200 6 -10

7 7 -20
-300
8 8 -30
-400
-40
9 9
-500 -50
10 10
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.1 0.2 0.3 0.4 0.5 0.6
Position [m] Position [m]

Scenario A =0.3
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 33
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

3) Linear Prediction

BG Weighted linear function Previous

traces
Future traces
Generalized Two-sided LP model

ap- and ap+ Linear prediction coefficients

bn (t ) ; a p An p (t ) a p An p (t )

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 34
Jin-Jen Hsue and Andrew E. Yagle, Similarities and
differences between one-sided and two-sided linear
prediction
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

3) Linear Predictiondy
dx
Selection ofp p Critical in performance
p
Estimation valid An-p(t)
or No target
response
An+p(t) A-scan under process

bn (t ) ; a p An p (t ) a p An p (t )
A-scans involved in one
background
calculation

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 35
Thomas C. T. Chan, H. C. So, K. C. Ho, Generalized
two-sided linear prediction approach for land mine
detection
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

3) Linear Prediction bn (t ) ; a p An p (t ) a p An p (t )
RAW DATA DATA AFTER
B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 300 0

1 250 1 30

2 200 2
20
3 150 3
100 10
4 4
Time [s]

Time [s]
50
5 5 0
0
6 6
-50 -10
7 7
-100
8 8 -20
-150
9 9
-200 -30

0 0.2 0.4 0.6 0.8 1 1.2 1.4 0 0.2 0.4 0.6 0.8 1 1.2
Position [m] Position [m]

Scenario B p=8cm
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 36
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES
dy

4) Moving Average dx

k n
N 1

Along-track sliding window 2


N N 1
Ak t
k n


bn t 2

N
An(t) n=N

Scan

Direction
n=(N-1)/2process
A-scan under

Window size related to

A-scans involved in
one averaging
length of hyperbolas
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 37
F.P. Haeni, Marc L. Buursink, and John E. Costa,
Ground-penetrating radar methods used in surface-
water discharge measurements
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

4) Moving Average

k n
N 1

Non-changing part of signal 2


considered as background N 1
Ak t
k n


bn t 2

N
Based on two assumptions
Targets Isolated scatterers

Constant roughness or smooth
changes

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 38
A. G. Yarovoy, P. van Genderen, and L. P. Ligthart,
Ultra-wideband ground penetrating impulse radar
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

4) Moving Average bn t mean Ak t k=1,..,N

RAW DATA DATA AFTER
x 10
-9 B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 1000 0
80
1 800 1
60
2 2
600
40
3 3
400
20
4 4
Time [s]

Time [s]
200
5 5 0
0
6 6 -20
-200
7 7 -40
-400
8 8 -60

9 -600 9 -80
10 -800 10
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
Position [m] Position [m]

Scenario C N=17cm
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 39
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

5) Moving Median
Median replaces Mean
Median of a group of A-scans:
Aa(tj)< Ab(tj) <, Ac(tj), j=1,,NT
bn t median Ak t
Selection of central value
bn Compilation of statistic
medians for each time sample k=1,..,N
within the A-scans in window
Less sensitive to extreme
changes than Moving Average
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 40
Adel ElFouly, Voids investigation at Gabbari Tombs,
Alexandria, Egypt using ground penetrating radar
technique
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

5) Moving Median bn t median Ak t k=1,..,N

RAW DATA DATA AFTER
x 10
-9 B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 1000 0
80
1 800 1
60
2 2
600
40
3 3
400
20
4 4
Time [s]

Time [s]
200 0
5 5
0 -20
6 6
-200 -40
7 7
-400 -60
8 8

9 -600 9 -80

10 -800 10 -100
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
Position [m] Position [m]

Scenario C N=17cm
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 41
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

6) Weighted Moving Average

n
Enhances Standard
Moving Average Weights wi xi
Weights apply to each X i 1
n
time sample
More weight to BG samples
i 1
wi
Less weight to signal
samples
Two averages are needed
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 42
. Yilmaz, Seismic Data Processing, Society of
Exploration Geophysicists, Tulsa, 1987
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

6) Weighted Moving Average

Processing Sequence n
A. Preliminary Moving Average
background subtraction
wi xi
Small sliding window X i 1
n
B. Hilbert Transform
Envelope Reflectivity
strength
i 1
wi
Instantaneous amplitudes
weighting coefficients
C. Moving Average using weights
Large sliding window
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 43
Friedrich Roth, Convolutional Models for Landmine
Identification with Ground Penetrating Radar
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES n

wi xi
X i 1
n
6) Weighted Moving Average
RAW DATA DATA AFTER
i 1
wi
B-Scan
x 10
-9 SUBTRACTION
B-Scan
0 300 0
25
1 250 1
20
2 200 2
15
3 150 3
10
100 4
4
5
Time [s]

Time [s]
50
5 5
0
0
6 6
-5
-50
7 7 -10
-100
8 8 -15
-150
9 9 -20
-200
10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 0 0.2 0.4 0.6 0.8 1 1.2 1.4
Position [m] Position [m]

Scenario B N=13cm n=3cm

INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 44
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

7a) Shifted and Scaled Arbitrary Reference

BG

Arbitrary bRef(t) signal

Amplitude scale ;
Max and Min bRef(t) Max and Min An(t)
Time shift tn,ref Ground-air bounces
overlap b t b t t
n n , ref ref n , ref

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 45
Friedrich Roth, Convolutional Models for Landmine
Identification with Ground Penetrating Radar
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

7a) Shifted and Scaled Arbitrary Reference

BGDATA
RAW bn t n ,ref bref t tn ,ref AFTER SUBTRACTION
-9 B-Scan -9 B-Scan
x 10 x 10
0 0
300
1 1
100
200
2 2
100
3 3
50
4 0 4
Time [s]

Time [s]
5 -100 5
0
6 -200 6

7 7
-300
-50
8 8
-400
9 9
-500 -100
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.1 0.2 0.3 0.4 0.5 0.6
Position [m] Position [m]

Scenario A
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 46
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

7b) Adaptive Shifted and Scaled BG in Freq.

Domain

Original for Stepped Frequency Radar

Impulse Radar Frequency domain FFT
Nonlinear minimization least squares 2
K
criterion
C ( , ) @ x ( ) x ( )e
i n, i n, i

n k n , i n i k
j k n, i

k 1

K :

: K
x *
(k ) xn (k ) e j k n , i

j k n , i n i
n , i arg max x*n i (k ) xn (k ) e
:
n, i k 1
n, i K
k 1

2
x n i (k )
k 1

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 47
R. Wu, A. Clement, J. Li, E. G. Larsson, M. Bradley, J.
Habersat, and G. Maksymonko, Adaptive ground
bounce removal
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

7b) Adaptive Shifted and Scaled BG in Freq.

Domain K 2

C ( , ) @ x ( ) x ( )e
j k n , i
RAW DATA AFTER SUBTRACTION
i n, i n, i n k n , i n i k
k 1
-9 B-Scan -9 B-Scan
x 10 x 10
0 10 0
4
1 8 1
3
2 6 2
4 2
3 3
2 1

Time [s]
Time [s]

4 4
0 0
5 5
-2 -1
6 6
-4 -2
7 7
-6 -3
8 -8 8
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Position [m] Position [m]

Scenario D
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 48
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

7c) Adaptive Shifted and Scaled BG in Time

Domain

Time saving
Real signals
Single optimization for A-scan (instead of k)
Nonlinear
C ( , minimization
) @ S (t ) S (tleast
) dtsquares
T
2
i n, i n, i n n, i n i n, i
criterion 0

T
S (t : ) S (t )
: T
n i

n, i n dt

n , i arg max S n i (t n , i ) S n (t ) dt
:
n, i 0
n, i
0 T

0
S n2i (t )dt

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 49
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

7c) Adaptive Shifted and Scaled BG in Time

Domain C ( , ) @ S (t ) S (t ) dt AFTER SUBTRACTION
T
2
n i
RAW DATA i n, i n, i
0
n n, i n, i

B-Scan -9 B-Scan
x 10
0 300 0

1 250 1 40

200 30
2 2
20
3 150 3
10
100
4 4
0
Time [s]

Time [s]
50
5 5 -10
0
6 6 -20
-50
7 7 -30
-100
8 8 -40
-150
-50
9 9
-200
-60
0 0.2 0.4 0.6 0.8 1 1.2 1.4 0 0.2 0.4 0.6 0.8 1 1.2 1.4
Position [m] Position [m]

Scenario B
INTRODUCTION GPR Clutter Removal ANALYSIS
04/03/17 50
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

8) Cylindrical Moving Average

2D Moving Average
Circular averaging area N A-scans
Along-scan direction
Cross-scan direction
Spatial window Cylinder (geometry of the
problem)
1
bi , j t
N
Axy t ,
x2 y 2 R2

INTRODUCTION GPR Clutter Removal ANALYSIS

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Jeroen Groenenboom, Alexander Yarovoy, Data
processing and imaging in GPR system dedicated for
landmine detection
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES
1
bi , j t Axy t ,
N x2 y 2 1
8) Cylindrical Moving Average
dy

dx

A-scan under process

A-scans involved in one

averaging

Scan Direction

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 52
Jeroen Groenenboom, Alexander Yarovoy, Data
processing and imaging in GPR system dedicated for
landmine detection
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES
1
bi , j t Axy t ,
N x2 y 2 1
8) Cylindrical Moving Average
RAW DATA DATA AFTER
x 10
-9 B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 0 60
300
1 1
200 40
2 2
100
3 3
20
4 0 4
Time [s]

Time [s]
5 -100 5
0
6 -200 6

7 7 -20
-300
8 8
-400
-40
9 9
-500
10 10
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.1 0.2 0.3 0.4 0.5 0.6
Position [m] Position [m]

Scenario A
INTRODUCTION GPR Clutter Removal ANALYSIS
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 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

9) Principal Component Analysis

Any real matrix S Subspaces orthonormal
basis diag ( 1 , ... , r )
S U VT

U and V unitary matrices

1,,r 0 singular values of S (r=rank (S))
vi Vectors in V Principal Components

Sliding window vi i
bn (t ) implementation
i 1

INTRODUCTION GPR Clutter Removal ANALYSIS

04/03/17 54
Gilbert Strang, Linear Algebra and its Applications,
Harcourt College Publishers, 3rd Edition, 1988
 LITERATURE OVERVIEW AND
ANALYSIS OF TECHNIQUES

bn (t ) vi i
9) Principal Component Analysis i 1

RAW DATA DATA AFTER

x 10
-9 B-Scan
x 10
-9
SUBTRACTION
B-Scan
0 1000 0
150
1 800 1

2 2
600 100
3 3
400
4 4 50
Time [s]

Time [s]
200
5 5
0 0
6 6
-200
7 7 -50
-400
8 8
-100
9 -600 9

10 -800 10
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2
Position [m] Position [m]

Scenario C N=8.4cm =1
INTRODUCTION
04/03/17 GPR Clutter Removal component
ANALYSIS
55
 Background Removal in Array-
Based UWB Radars for Landmine
Detection

METHODS COMPARISON

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 METHODS COMPARISON

Numerical Criterion Applied

-9
x 10
0

max abs sk , t
REGION 2
2
Rb

SNB
kL , RS

max abs bk ,T t
4

6
REGION
Rs kL ,T RB
LENGTH L

8
Sk, target signal
10
0.6 0.8 1 1.2 1.4 1.6 1.8

bk, ground bounce

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 METHODS COMPARISON

INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON

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 METHODS COMPARISON

INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON

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 METHODS COMPARISON

1) FIR High Pass Filtersn t An t bn t 0.5 An t An 1 t

Study of performance straightforward No parameters
SBR improvement larger in rough scenario
Time consumption very low
b (t ) An 1 (t ) (1 )bn 1 (t )
2) Exponential Averagingn
Rough surface influence of weighting factor
Time consumption low
Storage previous background calculation
3) Linear Prediction bn (t ) ; a p An p (t ) a p An p (t )
Large dependence on adjustable parameter p
When different target sizes complicate detection
INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON
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 METHODS COMPARISON

4) Moving Average bn t mean Ak t k=1,..,N

Not able to remove reflections from rough surfaces
Influence of window is not critical in smooth scenarios
5) Moving Median bn t median Ak t k=1,..,N
Generally improves SBR level of Moving Average for same
window length
Large window size compared to hyperbola degradation
n
6) Weighted Moving Average wi xi
Comparison with simple averaging SBR X i 1
n


High SBR can be achieved Accurate selection
wi
Computational burden Double averaging i 1
INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON
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 METHODS COMPARISON

bn t n ,ref bref t tn ,ref

7a) SaS Arbitrary Reference BG
Slowly changing surface outperforms FIR, MAV and MM
Time consuming
7b) Adaptive SaS BG in Freq. K 2

, n , i ) @
j k n , i
C ( i n, i xn (k ) n , i xn i (k )e
k 1

Outstanding SBR values

Lower time consumption than cylindrical average or WMA
T

7c) Adaptive SaS BG in TimeC (

2
i n, i , n , i ) @ S n (t ) n , i S n i (t n , i ) dt
0

Improvement in SBR is high for a rough surface

High time of execution

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 METHODS COMPARISON

1
8) Cylindrical Moving Average bi , j t
N x2 y 2 1
Axy t ,

Remarkable results for a rough surface

Processing several array lines processing time

9) Principal Component Analysisbn (t ) vi i
i 1
Complicated parametric study
Efficient implementation time reduction

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 METHODS COMPARISON
Algorithm features

Algorithm/Technique A-scans involved in Algorithm Recommended

Background Model Parameters Application

FIR Filtering An(t), An-1(t) None On line

An(t), bn-1(t) Weighting factor

Exponential Averaging On line

Two-Sided Linear An-p(t), An+p(t) Prediction range
On line
Prediction p

Moving Average Ak(t), k=1,,m Sliding window m On line/Off line

Moving Median Ak(t), k=1,,m Sliding window m On line/Off line

Ak(t), k=1,,n Sliding window n

Moving Weighted Off line
Ak(t), k=1,,m Sliding window m

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 METHODS COMPARISON
Algorithm features

Algorithm/Technique A-scans involved in Algorithm Recommended

Background Model Parameters Application

Shifted and Scaled ARef(t) Time delay Off line

Arbitrary
Amplitude scale

Time delay
Shifted and Scaled ARef(t) Amplitude scale On-line/Off-line
Frequency Domain
Sliding window m

Time delay
Shifted and Scaled ARef(t) Amplitude scale Off line
Time Domain
Sliding window m

Cylindrical Moving Axy(t), x2+y2<=R2 Averaging radius

Off line
Average R
INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON
04/03/17 Sliding window m 65
Principal Components Ak(t), k<=p Number of On line
components p
 Background Removal in Array-
Based UWB Radars for Landmine
Detection

INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION

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 INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION
SCENARIO AND DATA SET E
-9 B-Scan
x 10
0
2 200
Tim e [s]

4
0
6
-200
8

0 5 10 15 20 25
Position [m]

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 INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION
SCENARIO AND DATA SET E Moving Median Filter
0.2

A rray line [m ]
0.1
Object Target Location
0
Position X Position Y Depth
-0.1
NR22-AP 1 -10 semi
NR22-AP 1 10 semi -0.2
0.9 1 1.1
NR22-AP 1.5 -10 5cm Scan line [m]
NR22-AP 1.5 10 5cm
NR22-AP 1.75 0 semi
NR22-AP 2 0 5cm

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 INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION

1) FIR High Pass Filter

INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON INFLUENCE

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 INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION

2) Linear Prediction

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 INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION

3) Moving Median

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 INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION

4) Shifted and Scaled BG in Freq. Domain

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 INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION

5) Principal Component Analysis

Array line [m]

0.2 1
0 0.5
-0.2 0
0 2 4 6 8 10 12 14 16 18
Scan line [m]

PCA1
0.2
Array line[m]

-0.2
0.5 1 1.5 2 2.5
Scan line[m]

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 INFLUENCE OF TECHNIQUES ON
LANDMINE DETECTION

EBR COMPARISON

Algorithm Energy Feature

Signal Background EBR
Energy Energy
2-Sided LP 5.5976E+3 448.1885 12.48
FIR Filtering 454.1735 49.0152 9.26
Median Filtering 1.9409E+3 211.9093 9.15
SaS Frequency Domain 3.5014E+3 827.2433 4.23
Principal Components 1.0639E+3 231.1741 4.60

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 Background Removal in Array-
Based UWB Radars for Landmine
Detection

CONCLUSIONS AND FUTURE

WORK

INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON INFLUENCE CONCLUSIONS

04/03/17 75
CONCLUSIONS AND FUTURE WORK
A number of algorithms developed for clutter removal in
GPR

Difficulty to state quality objectively

Sort of terrain
Roughness
Material/size of targets

Performance Analysis after BG subtraction SBR

Performance Analysis after migration EBR

Computational Analysis Off-line/On-line

INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON INFLUENCE CONCLUSIONS

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CONCLUSIONS AND FUTURE WORK
Best performance on smooth surface
SaS in Frequency Domain

Best performance on rough surface

SaS in Time and Frequency Domain
Cylindrical Moving Average

Algorithms suggested for online processing

FIR filtering
Linear Prediction
Exponential Averaging

Less computationally expensive algorithm FIR filter

Best performing algorithm after migration L. Prediction

INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON INFLUENCE CONCLUSIONS
04/03/17 77
CONCLUSIONS AND FUTURE WORK

Main results on this research:

Optimal Background
Subtraction in GPR for Humanitarian
Demining

European Radar Conference EuRAD (European

Microwave week), October 2008

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04/03/17 78
CONCLUSIONS AND FUTURE WORK
Shifted and Scaled technique
Reference Background New criteria
Time and Frequency Domain should equally perform
Accurate removal of antenna crosstalk

PCA showed reliability in other applications

More efficient implementation online purposes

FIR filter
A larger number of coefficients may be included in filter
implementation
Key issue Coefficients selection

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04/03/17 79
CONCLUSIONS AND FUTURE WORK
2-sided Linear Prediction
Tunable algorithm should be tested
Number of A-scans can be selected

Exponential Averaging should be analyzed after

migration
Early tests revealed promising results
Alternative to Linear Prediction
Less dependency on parameters
Low overall energy after Focusing
High Energy-to-Background Ratio after Focusing

INTRODUCTION GPR Clutter Removal ANALYSIS COMPARISON INFLUENCE CONCLUSIONS

04/03/17 80
 Background Removal in Array-
Based UWB Radars for Landmine
Detection

THANK YOU

04/03/17 81
 Background Removal in Array-
Based UWB Radars for Landmine
Detection

The IRCTR: An International

Focus

04/03/17 82
 The IRCTR: An International
Focus

IRCTR=Research center EEMCS of TUDelft

Main objective Challenging scientific Telecom
research Radar
Collaboration: Industries, scientific partners,
Founding organizations
Research sectors Program director
Emphasison internationalization
Research cooperation with Europe, Asia and USA

04/03/17 83
 The IRCTR: An International
Focus
Proof of Principle demonstrators at IRCTR
Millimeter Wave Facilities
Support of Dutch Technology Foundation (STW)
Test and measurement facility for mm waves up to
110 GHz
Network vector analyzers
Agilent
ABmm
Anechoic chamber (DUCAT)

04/03/17 84
 The IRCTR: An International
Focus
Proof of Principle demonstrators at IRCTR
Wireless Communications
Real time OFDM code demonstrator
Transportable Radar for atmospheric remote
sensing
FM-Continuous Wave (FMCW)
Crucial measurement facility
in CESAR

04/03/17 85
 The IRCTR: An International
Focus
Proof of Principle demonstrators at IRCTR
Detection of buried landmines
Since 1997 Dutch Ministry of Defense
Video impulse radar
Stepped frequency radar
Measurement and positioning
system

04/03/17 86
 The IRCTR: An International
Focus
UWB Technology and Ground Penetrating Radar Grou
Program director: Alexander G. Yarovoy
Research areas
Properties of soils
Propagation and scattering of transmission fields
GPR Antennas
Radars
Target classification
UWB technology
Radar signal processing

04/03/17 87
 The IRCTR: An International
Focus
UWB Technology and Ground Penetrating Radar Grou
Radiowave methods Measurement of soil
permittivity
Study of short-pulse scattering from dielectric targets
and rough air-ground interface
UWB: bow-tie, spiral, TEM horns,
dielectric wedge antenna
UWB applications: Short range radar
UWB telecom
Near field sensors

04/03/17 88
 The IRCTR: An International
Focus
UWB Technology and Ground Penetrating Radar Grou
Video Impulse Radars
Stepped Frequency Radars
Target classification

04/03/17 89