Constrained multiple model bayesian filtering for target tracking in cluttered environment

This paper proposes a composite Bayesian filtering approach for unmanned aerial vehicle trajectory estimation in cluttered environments. More specifically, a complete model for the measurement likelihood function of all measurements, including target-generated observation and false alarms, is derived based on the random finite set theory. To accommodate several different manoeuvre modes and system state constraints, a recursive multiple model Bayesian filtering algorithm and its corresponding Sequential Monte Carlo implementation are established. Compared with classical approaches, the proposed method addresses the problem of measurement uncertainty without any data associations. Numerical simulations for estimating an unmanned aerial vehicle trajectory generated by generalised proportional navigation guidance law clearly demonstrate the effectiveness of the proposed formulation

The Neural Particle Filter

The robust estimation of dynamically changing features, such as the position of prey, is one of the hallmarks of perception. On an abstract, algorithmic level, nonlinear Bayesian filtering, i.e. the estimation of temporally changing signals based on the history of observations, provides a mathematical framework for dynamic perception in real time. Since the general, nonlinear filtering problem is analytically intractable, particle filters are considered among the most powerful approaches to approximating the solution numerically. Yet, these algorithms prevalently rely on importance weights, and thus it remains an unresolved question how the brain could implement such an inference strategy with a neuronal population. Here, we propose the Neural Particle Filter (NPF), a weight-less particle filter that can be interpreted as the neuronal dynamics of a recurrently connected neural network that receives feed-forward input from sensory neurons and represents the posterior probability distribution in terms of samples. Specifically, this algorithm bridges the gap between the computational task of online state estimation and an implementation that allows networks of neurons in the brain to perform nonlinear Bayesian filtering. The model captures not only the properties of temporal and multisensory integration according to Bayesian statistics, but also allows online learning with a maximum likelihood approach. With an example from multisensory integration, we demonstrate that the numerical performance of the model is adequate to account for both filtering and identification problems. Due to the weightless approach, our algorithm alleviates the 'curse of dimensionality' and thus outperforms conventional, weighted particle filters in higher dimensions for a limited number of particles

Stochastic Volatility Filtering with Intractable Likelihoods

This paper is concerned with particle filtering for $\alpha$-stable stochastic volatility models. The $\alpha$-stable distribution provides a flexible framework for modeling asymmetry and heavy tails, which is useful when modeling financial returns. An issue with this distributional assumption is the lack of a closed form for the probability density function. To estimate the volatility of financial returns in this setting, we develop a novel auxiliary particle filter. The algorithm we develop can be easily applied to any hidden Markov model for which the likelihood function is intractable or computationally expensive. The approximate target distribution of our auxiliary filter is based on the idea of approximate Bayesian computation (ABC). ABC methods allow for inference on posterior quantities in situations when the likelihood of the underlying model is not available in closed form, but simulating samples from it is possible. The ABC auxiliary particle filter (ABC-APF) that we propose provides not only a good alternative to state estimation in stochastic volatility models, but it also improves on the existing ABC literature. It allows for more flexibility in state estimation while improving on the accuracy through better proposal distributions in cases when the optimal importance density of the filter is unavailable in closed form. We assess the performance of the ABC-APF on a simulated dataset from the $\alpha$-stable stochastic volatility model and compare it to other currently existing ABC filters

Online Natural Gradient as a Kalman Filter

We cast Amari's natural gradient in statistical learning as a specific case of Kalman filtering. Namely, applying an extended Kalman filter to estimate a fixed unknown parameter of a probabilistic model from a series of observations, is rigorously equivalent to estimating this parameter via an online stochastic natural gradient descent on the log-likelihood of the observations. In the i.i.d. case, this relation is a consequence of the "information filter" phrasing of the extended Kalman filter. In the recurrent (state space, non-i.i.d.) case, we prove that the joint Kalman filter over states and parameters is a natural gradient on top of real-time recurrent learning (RTRL), a classical algorithm to train recurrent models. This exact algebraic correspondence provides relevant interpretations for natural gradient hyperparameters such as learning rates or initialization and regularization of the Fisher information matrix.Comment: 3rd version: expanded intr