Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression

In this paper, we revisit batch state estimation through the lens of Gaussian process (GP) regression. We consider continuous-discrete estimation problems wherein a trajectory is viewed as a one-dimensional GP, with time as the independent variable. Our continuous-time prior can be defined by any nonlinear, time-varying stochastic differential equation driven by white noise; this allows the possibility of smoothing our trajectory estimates using a variety of vehicle dynamics models (e.g., `constant-velocity'). We show that this class of prior results in an inverse kernel matrix (i.e., covariance matrix between all pairs of measurement times) that is exactly sparse (block-tridiagonal) and that this can be exploited to carry out GP regression (and interpolation) very efficiently. When the prior is based on a linear, time-varying stochastic differential equation and the measurement model is also linear, this GP approach is equivalent to classical, discrete-time smoothing (at the measurement times); when a nonlinearity is present, we iterate over the whole trajectory to maximize accuracy. We test the approach experimentally on a simultaneous trajectory estimation and mapping problem using a mobile robot dataset.Comment: Submitted to Autonomous Robots on 20 November 2014, manuscript # AURO-D-14-00185, 16 pages, 7 figure

Sparse Modeling for Image and Vision Processing

In recent years, a large amount of multi-disciplinary research has been conducted on sparse models and their applications. In statistics and machine learning, the sparsity principle is used to perform model selection---that is, automatically selecting a simple model among a large collection of them. In signal processing, sparse coding consists of representing data with linear combinations of a few dictionary elements. Subsequently, the corresponding tools have been widely adopted by several scientific communities such as neuroscience, bioinformatics, or computer vision. The goal of this monograph is to offer a self-contained view of sparse modeling for visual recognition and image processing. More specifically, we focus on applications where the dictionary is learned and adapted to data, yielding a compact representation that has been successful in various contexts.Comment: 205 pages, to appear in Foundations and Trends in Computer Graphics and Visio

Spatiotemporal Sparse Bayesian Learning with Applications to Compressed Sensing of Multichannel Physiological Signals

Energy consumption is an important issue in continuous wireless telemonitoring of physiological signals. Compressed sensing (CS) is a promising framework to address it, due to its energy-efficient data compression procedure. However, most CS algorithms have difficulty in data recovery due to non-sparsity characteristic of many physiological signals. Block sparse Bayesian learning (BSBL) is an effective approach to recover such signals with satisfactory recovery quality. However, it is time-consuming in recovering multichannel signals, since its computational load almost linearly increases with the number of channels. This work proposes a spatiotemporal sparse Bayesian learning algorithm to recover multichannel signals simultaneously. It not only exploits temporal correlation within each channel signal, but also exploits inter-channel correlation among different channel signals. Furthermore, its computational load is not significantly affected by the number of channels. The proposed algorithm was applied to brain computer interface (BCI) and EEG-based driver's drowsiness estimation. Results showed that the algorithm had both better recovery performance and much higher speed than BSBL. Particularly, the proposed algorithm ensured that the BCI classification and the drowsiness estimation had little degradation even when data were compressed by 80%, making it very suitable for continuous wireless telemonitoring of multichannel signals.Comment: Codes are available at: https://sites.google.com/site/researchbyzhang/stsb

Representation Learning: A Review and New Perspectives

The success of machine learning algorithms generally depends on data representation, and we hypothesize that this is because different representations can entangle and hide more or less the different explanatory factors of variation behind the data. Although specific domain knowledge can be used to help design representations, learning with generic priors can also be used, and the quest for AI is motivating the design of more powerful representation-learning algorithms implementing such priors. This paper reviews recent work in the area of unsupervised feature learning and deep learning, covering advances in probabilistic models, auto-encoders, manifold learning, and deep networks. This motivates longer-term unanswered questions about the appropriate objectives for learning good representations, for computing representations (i.e., inference), and the geometrical connections between representation learning, density estimation and manifold learning