Joint Probabilistic Data Association-Feedback Particle Filter for Multiple Target Tracking Applications

This paper introduces a novel feedback-control based particle filter for the solution of the filtering problem with data association uncertainty. The particle filter is referred to as the joint probabilistic data association-feedback particle filter (JPDA-FPF). The JPDA-FPF is based on the feedback particle filter introduced in our earlier papers. The remarkable conclusion of our paper is that the JPDA-FPF algorithm retains the innovation error-based feedback structure of the feedback particle filter, even with data association uncertainty in the general nonlinear case. The theoretical results are illustrated with the aid of two numerical example problems drawn from multiple target tracking applications.Comment: In Proc. of the 2012 American Control Conferenc

Transductive-Inductive Cluster Approximation Via Multivariate Chebyshev Inequality

Approximating adequate number of clusters in multidimensional data is an open area of research, given a level of compromise made on the quality of acceptable results. The manuscript addresses the issue by formulating a transductive inductive learning algorithm which uses multivariate Chebyshev inequality. Considering clustering problem in imaging, theoretical proofs for a particular level of compromise are derived to show the convergence of the reconstruction error to a finite value with increasing (a) number of unseen examples and (b) the number of clusters, respectively. Upper bounds for these error rates are also proved. Non-parametric estimates of these error from a random sample of sequences empirically point to a stable number of clusters. Lastly, the generalization of algorithm can be applied to multidimensional data sets from different fields.Comment: 16 pages, 5 figure