23,402 research outputs found
The Sensing Capacity of Sensor Networks
This paper demonstrates fundamental limits of sensor networks for detection
problems where the number of hypotheses is exponentially large. Such problems
characterize many important applications including detection and classification
of targets in a geographical area using a network of sensors, and detecting
complex substances with a chemical sensor array. We refer to such applications
as largescale detection problems. Using the insight that these problems share
fundamental similarities with the problem of communicating over a noisy
channel, we define a quantity called the sensing capacity and lower bound it
for a number of sensor network models. The sensing capacity expression differs
significantly from the channel capacity due to the fact that a fixed sensor
configuration encodes all states of the environment. As a result, codewords are
dependent and non-identically distributed. The sensing capacity provides a
bound on the minimal number of sensors required to detect the state of an
environment to within a desired accuracy. The results differ significantly from
classical detection theory, and provide an ntriguing connection between sensor
networks and communications. In addition, we discuss the insight that sensing
capacity provides for the problem of sensor selection.Comment: Submitted to IEEE Transactions on Information Theory, November 200
Bayesian Nonstationary Spatial Modeling for Very Large Datasets
With the proliferation of modern high-resolution measuring instruments
mounted on satellites, planes, ground-based vehicles and monitoring stations, a
need has arisen for statistical methods suitable for the analysis of large
spatial datasets observed on large spatial domains. Statistical analyses of
such datasets provide two main challenges: First, traditional
spatial-statistical techniques are often unable to handle large numbers of
observations in a computationally feasible way. Second, for large and
heterogeneous spatial domains, it is often not appropriate to assume that a
process of interest is stationary over the entire domain.
We address the first challenge by using a model combining a low-rank
component, which allows for flexible modeling of medium-to-long-range
dependence via a set of spatial basis functions, with a tapered remainder
component, which allows for modeling of local dependence using a compactly
supported covariance function. Addressing the second challenge, we propose two
extensions to this model that result in increased flexibility: First, the model
is parameterized based on a nonstationary Matern covariance, where the
parameters vary smoothly across space. Second, in our fully Bayesian model, all
components and parameters are considered random, including the number,
locations, and shapes of the basis functions used in the low-rank component.
Using simulated data and a real-world dataset of high-resolution soil
measurements, we show that both extensions can result in substantial
improvements over the current state-of-the-art.Comment: 16 pages, 2 color figure
Recognizing point clouds using conditional random fields
Detecting objects in cluttered scenes is a necessary step for many robotic tasks and facilitates the interaction of the robot with its environment. Because of the availability of efficient 3D sensing devices as the Kinect, methods for the recognition of objects in 3D point clouds have gained importance during the last years. In this paper, we propose a new supervised learning approach for the recognition of objects from 3D point clouds using Conditional Random Fields, a type of discriminative, undirected probabilistic graphical model. The various features and contextual relations of the objects are described by the potential functions in the graph. Our method allows for learning and inference from unorganized point clouds of arbitrary sizes and shows significant benefit in terms of computational speed during prediction when compared to a state-of-the-art approach based on constrained optimization.Peer ReviewedPostprint (author’s final draft
Hyper-Spectral Image Analysis with Partially-Latent Regression and Spatial Markov Dependencies
Hyper-spectral data can be analyzed to recover physical properties at large
planetary scales. This involves resolving inverse problems which can be
addressed within machine learning, with the advantage that, once a relationship
between physical parameters and spectra has been established in a data-driven
fashion, the learned relationship can be used to estimate physical parameters
for new hyper-spectral observations. Within this framework, we propose a
spatially-constrained and partially-latent regression method which maps
high-dimensional inputs (hyper-spectral images) onto low-dimensional responses
(physical parameters such as the local chemical composition of the soil). The
proposed regression model comprises two key features. Firstly, it combines a
Gaussian mixture of locally-linear mappings (GLLiM) with a partially-latent
response model. While the former makes high-dimensional regression tractable,
the latter enables to deal with physical parameters that cannot be observed or,
more generally, with data contaminated by experimental artifacts that cannot be
explained with noise models. Secondly, spatial constraints are introduced in
the model through a Markov random field (MRF) prior which provides a spatial
structure to the Gaussian-mixture hidden variables. Experiments conducted on a
database composed of remotely sensed observations collected from the Mars
planet by the Mars Express orbiter demonstrate the effectiveness of the
proposed model.Comment: 12 pages, 4 figures, 3 table
Optimal decision making for sperm chemotaxis in the presence of noise
For navigation, microscopic agents such as biological cells rely on noisy
sensory input. In cells performing chemotaxis, such noise arises from the
stochastic binding of signaling molecules at low concentrations. Using
chemotaxis of sperm cells as application example, we address the classic
problem of chemotaxis towards a single target. We reveal a fundamental
relationship between the speed of chemotactic steering and the strength of
directional fluctuations that result from the amplification of noise in the
chemical input signal. This relation implies a trade-off between slow, but
reliable, and fast, but less reliable, steering.
By formulating the problem of optimal navigation in the presence of noise as
a Markov decision process, we show that dynamic switching between reliable and
fast steering substantially increases the probability to find a target, such as
the egg. Intriguingly, this decision making would provide no benefit in the
absence of noise. Instead, decision making is most beneficial, if chemical
signals are above detection threshold, yet signal-to-noise ratios of gradient
measurements are low. This situation generically arises at intermediate
distances from a target, where signaling molecules emitted by the target are
diluted, thus defining a `noise zone' that cells have to cross.
Our work addresses the intermediate case between well-studied perfect
chemotaxis at high signal-to-noise ratios close to a target, and random search
strategies in the absence of navigation cues, e.g. far away from a target. Our
specific results provide a rational for the surprising observation of decision
making in recent experiments on sea urchin sperm chemotaxis. The general theory
demonstrates how decision making enables chemotactic agents to cope with high
levels of noise in gradient measurements by dynamically adjusting the
persistence length of a biased persistent random walk.Comment: 9 pages, 5 figure
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