Signal Processing for Autonomous Systems

This textbook provides information about the essential technical components of building autonomous systems. The book starts by briefly covering basic principles of statistical estimation theory, an essential tool required in various steps in the implementation of autonomous systems. The book also includes technical details of the navigation systems along with their required components. The authors cover terrestrial and non-terrestrial infrastructures that could appear in some autonomous vehicles’ implementations, incorporating several types of Lidars, Radars, and wireless networks, as well as the integration of acquired information originating from distinct sources. Several signal processing tools taking part in the ongoing proposals are described in the text.

Yong Ching Lim (Life Fellow, IEEE) received the A.C.G.I. and B.Sc. degrees in 1977 and the D.I.C. and Ph.D. degrees in 1980, all in electrical engineering, from Imperial College, London, U.K. Since 2003, he has been with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, where he is currently a professor. From 1980 to 1982, he was a National Research Council Research Associate in the Naval Postgraduate School, Monterey, CA, USA. From 1982 to 2003, he was with the Department of Electrical Engineering, National University of Singapore. His research interests include digital signal processing and VLSI circuits and systems design. Dr. Lim was a recipient of the 1996 IEEE Circuits and Systems Society’s Guillemin-Cauer Best Paper Award, the 1990 IREE (Australia) Norman Hayes Memorial Best Paper Award, 1977 IEE (U.K.) Prize and the 1974–1977 Siemens Memorial (Imperial College) Award. He served as a lecturer for the IEEE Circuits and Systems Society under the distinguished lecturer program from 2001 to 2002 and as an Associate Editor for the IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS from 1991 to 1993 and from 1999 to 2001. He has also served as an Associate Editor for Circuits, Systems, and Signal Processing from 1993 to 2000. He served as the Chairman of the DSP Technical Committee of the IEEE Circuits and Systems Society from 1998 to 2000. He served in the Technical Program Committee’s DSP Track as the Chairman in IEEE ISCAS’97 and IEEE ISCAS’00 and as a Co-chairman in IEEE ISCAS’99. He was the General Chairman for IEEE APCCAS 2006, a Co-General Chairman for IEEE ISCAS 2009, ICGCS 2010, and DSP 2014.

Paulo S. R. Diniz (Life Fellow, IEEE) was born in Niterói, Brazil. He received the Electronics Engineering degree (cum laude) in electrical engineering from the Federal University of Rio de Janeiro (UFRJ), Rio de Janeiro, Brazil, in 1978, the M.Sc. degree in electrical engineering from COPPE/UFRJ, Rio de Janeiro, in 1981, and the Ph.D. degree in electrical engineering from Concordia University, Montreal, QC, Canada, in 1984. He is affiliated with the Program of Electrical Engineering and the Department of Electronics and Computer Engineering at COPPE/Poli, UFRJ. He has authored or co-authored over 350 refereed articles in journals and conferences and the following textbooks: Online Learning and Adaptive Filters (Cambridge, U.K.: Cambridge University Press, 2021, with M. L. Campos, W. A. Martins, M. V. S. Lima, and J. A. Apolinário Jr.), Adaptive Filtering: Algorithms and Practical Implementation (NY: Springer, Fifth Edition, 2020), and Digital Signal Processing: System Analysis and Design (Cambridge, U.K.: Cambridge University Press, Second Edition, 2010, with E. A. B. da Silva and S. L. Netto); and the monographs Block Transceivers: OFDM and Beyond (NY, Springer, 2012, with W. A. Martins and M. V. S. Lima) and Online Component Analysis, Architectures and Applications (Deft, NOW Publishers, 2022, with J. B. O. Souza Filho, L.-D. Van, and T.-P. Jung). His teaching and research interests include signal processing, online learning, adaptive signal processing, digital communications, wireless communications, stochastic processes, and electronic circuits. Dr. Diniz is a fellow of EURASIP. He is also a member of the National Academy of Engineering (ANE) and the Brazilian Academy of Science (ABC). He received the 2014 Charles Desoer Technical Achievement Award of the IEEE Circuits and Systems Society. He also received some best paper awards from conferences and IEEE journals.  In 2024, he received the Carl Friedrich Gauss Education Award from the IEEE Signal Processing Society.  He was an Associate Editor of several journals, including the IEEE Transactions on Circuits and Systems and the IEEE Transactions on Signal Processing, and has also served as a Distinguished Lecturer of the IEEE Circuits and Systems and Signal Processing Societies.

Yih-Fang Huang (Life Fellow, IEEE) received the B.S.E.E. degree from the National Taiwan University, the M.S.E.E. degree from the University of Notre Dame, and M.A. and Ph.D. degrees from the Princeton University. He is Professor in the Department of Electrical Engineering. At the University of Notre Dame, he served as Chair of the Department of Electrical Engineering from 1998 to 2006, and as Senior Associate Dean for Education and Undergraduate Programs in the College of Engineering from 2013 to 2023. In Spring 1993, he received the Toshiba Fellowship and was a Toshiba Visiting Professor at Waseda University, Tokyo, Japan. From April to July 2007, he was a Visiting Professor at Munich University of Technology, Munich, Germany. In Fall 2007, he was awarded the Fulbright-Nokia scholarship for lectures/research at the Helsinki University of Technology, Finland.  His research interests focus on theory and applications of statistical signal processing, and adaptive signal processing.  Prof. Huang received the Golden Jubilee Medal of the IEEE Circuits and Systems Society in 1999, served as the Vice President for Publications in 1997–98 and was a Distinguished Lecturer for the same society in 2000–2001. At the University of Notre Dame, he received the Presidential Award in 2003, the Electrical Engineering department’s Outstanding Teacher Award in 1994 and 2011, the Rev. Edmund P. Joyce, CSC Award for Excellence in Undergraduate Teaching in 2011, and the College of Engineering’s Teacher of the Year Award in 2013. Dr. Huang is a Fellow of the American Association for the Advancement of Science (AAAS).