A* Orthogonal Matching Pursuit: Best-First Search for Compressed Sensing Signal Recovery

Compressed sensing is a developing field aiming at reconstruction of sparse signals acquired in reduced dimensions, which make the recovery process under-determined. The required solution is the one with minimum $\ell_0$ norm due to sparsity, however it is not practical to solve the $\ell_0$ minimization problem. Commonly used techniques include $\ell_1$ minimization, such as Basis Pursuit (BP) and greedy pursuit algorithms such as Orthogonal Matching Pursuit (OMP) and Subspace Pursuit (SP). This manuscript proposes a novel semi-greedy recovery approach, namely A* Orthogonal Matching Pursuit (A*OMP). A*OMP performs A* search to look for the sparsest solution on a tree whose paths grow similar to the Orthogonal Matching Pursuit (OMP) algorithm. Paths on the tree are evaluated according to a cost function, which should compensate for different path lengths. For this purpose, three different auxiliary structures are defined, including novel dynamic ones. A*OMP also incorporates pruning techniques which enable practical applications of the algorithm. Moreover, the adjustable search parameters provide means for a complexity-accuracy trade-off. We demonstrate the reconstruction ability of the proposed scheme on both synthetically generated data and images using Gaussian and Bernoulli observation matrices, where A*OMP yields less reconstruction error and higher exact recovery frequency than BP, OMP and SP. Results also indicate that novel dynamic cost functions provide improved results as compared to a conventional choice.Comment: accepted for publication in Digital Signal Processin

Dynamic dictionary matching with failure functions

AbstractAmir and Farach (1991) and Amir et al. (to appear) recently initiated the study of the dynamic dictionary pattern matching problem. The dictionary D contains a set of patterns that can change over time by insertion and deletion of individual patterns. The user may also present a text string and ask to search for all occurrences of any patterns in the text. For the static dictionary problem, Aho and Corasick (1975) gave a strategy based on a failure function automaton that takes O(|D|log|Σ|) time to build a dictionary of size |D| and searches a text T in time O(|T|log|Σ|+tocc), where tocc, is the total number of pattern occurrences in the text.Amir et al. (to appear) used an automaton based on suffix trees to solve the dynamic problem. Their method can insert or delete a pattern P in time O(|P|log|D|) and can search a text in time O((|T|+tocc)log|D|).We show that the same bounds can be achieved using a framework based on failure functions. We then show that our approach also allows us to achieve faster search times at the expense of the update times; for constant k, we can achieve linear O(|T|(k+log|Σ|)+k tocc) search time with an update time of O(k|P∥D|1k). This is advantageous if the search texts are much larger than the dictionary or searches are more frequent than updates.Finally, we show how to build the initial dictionary in O(|D|log|Σ|) time, regardless of what combination of search and update times is used

Model Transformations in MT

Model transformations are recognised as a vital aspect of Model Driven Development,but current approaches cover only a small part of the possible spectrum. In this paper I present the MT model transformation which shows how a QVT-like language can be extended with novel pattern matching constructs, how tracing information can be automatically constructed and visualized, and how the transformed model is pruned of extraneous elements. As MT is implemented as a DSL within the Converge language, this paper also demonstrates how a general purpose language can be embedded in a model transformation language, and how DSL development can aid experimentation and exploration of new parts of the model transformation spectrum

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Feature detection using spikes: the greedy approach

A goal of low-level neural processes is to build an efficient code extracting the relevant information from the sensory input. It is believed that this is implemented in cortical areas by elementary inferential computations dynamically extracting the most likely parameters corresponding to the sensory signal. We explore here a neuro-mimetic feed-forward model of the primary visual area (VI) solving this problem in the case where the signal may be described by a robust linear generative model. This model uses an over-complete dictionary of primitives which provides a distributed probabilistic representation of input features. Relying on an efficiency criterion, we derive an algorithm as an approximate solution which uses incremental greedy inference processes. This algorithm is similar to 'Matching Pursuit' and mimics the parallel architecture of neural computations. We propose here a simple implementation using a network of spiking integrate-and-fire neurons which communicate using lateral interactions. Numerical simulations show that this Sparse Spike Coding strategy provides an efficient model for representing visual data from a set of natural images. Even though it is simplistic, this transformation of spatial data into a spatio-temporal pattern of binary events provides an accurate description of some complex neural patterns observed in the spiking activity of biological neural networks.Comment: This work links Matching Pursuit with bayesian inference by providing the underlying hypotheses (linear model, uniform prior, gaussian noise model). A parallel with the parallel and event-based nature of neural computations is explored and we show application to modelling Primary Visual Cortex / image processsing. http://incm.cnrs-mrs.fr/perrinet/dynn/LaurentPerrinet/Publications/Perrinet04tau