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From many decades, bearings-only tracking (BOT) is the interested problem for researchers. This utilises nonlinear filtering methods for state estimation as there is only information about the target, i.e. bearing is a nonlinear measurement. The measurement bearing is tangentially related to the target state vector. There are many nonlinear filtering algorithms developed so far in the literature.

In this research work, the recently developed nonlinear filtering algorithm, i.e. shifted Rayleigh filter (SRF), is applied to BOT.

The SRF is tested for two-dimensional BOT against various scenarios. The simulation results emphasise that the SRF performs well when compared to the standard nonlinear filtering algorithm, unscented Kalman filter (UKF).

SRF utilises the nonlinearities present in the bearing measurement through the use of moment matching. The SRF is able to produce the solution in highly noisy environment, long ranges and high dimension tracking.

Integrating complementary information with high-quality visual perception is essential in infrared and visible image fusion. Contrast-enhanced fusion required for target detection in military, navigation and surveillance applications, where visible images are captured at low-light conditions, is a challenging task. This paper aims to focus on the enhancement of poorly illuminated low-light images through decomposition prior to fusion, to provide high visual quality.

In this paper, a two-step process is implemented to improve the visual quality. First, the low-light visible image is decomposed to dark and bright image components. The decomposition is accomplished based on the selection of a threshold using Renyi’s entropy maximization. The decomposed dark and bright images are intensified with the stochastic resonance (SR) model. Second, texture information-based weighted average scheme for low-frequency coefficients and select maximum precept for high-frequency coefficients are used in the discrete wavelet transform (DWT) domain.

Simulations in MATLAB were carried out on various test images. The qualitative and quantitative evaluations of the proposed method show improvement in edge-based and information-based metrics compared to several existing fusion techniques.

In this work, a high-contrast, edge-preserved and brightness-improved image is obtained by the processing steps considered in this work to get good visual quality.