14,895 research outputs found
Gaussian Markov Random Fields for fusion in information form
© 2016 IEEE. 2.5D maps are preferable for representing the environment owing to their compactness. When noisy observations from multiple diverse sensors at different resolutions are available, the problem of 2.5D mapping turns to how to compound the information in an effective and efficient manner. This paper proposes a generic probabilistic framework for fusing efficiently multiple sources of sensor data to generate amendable, high-resolution 2.5D maps. The key idea is to exploit the sparse structure of the information matrix. Gaussian Markov Random Fields are employed to learn a prior map, which uses the conditional independence property between spatial location to obtain a representation of the state with a sparse information matrix. This prior map encoded in information form can then be updated with other sources of sensor data in constant time. Later, mean state vector and variances can be also efficiently recovered using sparse matrices techniques. The proposed approach allows accurate estimation of 2.5D maps at arbitrary resolution, while incorporating sensor noise and spatial dependency in a statistically sound way. We apply the proposed framework to pipe wall thickness mapping and fuse data from two diverse sensors that have different resolutions. Experimental results are compared with three other methods, showing that, while greatly reducing computation time, the proposed framework is able to capture in large extend the spatial correlation to generate equivalent results to the computationally expensive optimal fusion method in covariance form with a Gaussian Process prior
Distributed Detection and Estimation in Wireless Sensor Networks
In this article we consider the problems of distributed detection and
estimation in wireless sensor networks. In the first part, we provide a general
framework aimed to show how an efficient design of a sensor network requires a
joint organization of in-network processing and communication. Then, we recall
the basic features of consensus algorithm, which is a basic tool to reach
globally optimal decisions through a distributed approach. The main part of the
paper starts addressing the distributed estimation problem. We show first an
entirely decentralized approach, where observations and estimations are
performed without the intervention of a fusion center. Then, we consider the
case where the estimation is performed at a fusion center, showing how to
allocate quantization bits and transmit powers in the links between the nodes
and the fusion center, in order to accommodate the requirement on the maximum
estimation variance, under a constraint on the global transmit power. We extend
the approach to the detection problem. Also in this case, we consider the
distributed approach, where every node can achieve a globally optimal decision,
and the case where the decision is taken at a central node. In the latter case,
we show how to allocate coding bits and transmit power in order to maximize the
detection probability, under constraints on the false alarm rate and the global
transmit power. Then, we generalize consensus algorithms illustrating a
distributed procedure that converges to the projection of the observation
vector onto a signal subspace. We then address the issue of energy consumption
in sensor networks, thus showing how to optimize the network topology in order
to minimize the energy necessary to achieve a global consensus. Finally, we
address the problem of matching the topology of the network to the graph
describing the statistical dependencies among the observed variables.Comment: 92 pages, 24 figures. To appear in E-Reference Signal Processing, R.
Chellapa and S. Theodoridis, Eds., Elsevier, 201
Data augmentation in Rician noise model and Bayesian Diffusion Tensor Imaging
Mapping white matter tracts is an essential step towards understanding brain
function. Diffusion Magnetic Resonance Imaging (dMRI) is the only noninvasive
technique which can detect in vivo anisotropies in the 3-dimensional diffusion
of water molecules, which correspond to nervous fibers in the living brain. In
this process, spectral data from the displacement distribution of water
molecules is collected by a magnetic resonance scanner. From the statistical
point of view, inverting the Fourier transform from such sparse and noisy
spectral measurements leads to a non-linear regression problem. Diffusion
tensor imaging (DTI) is the simplest modeling approach postulating a Gaussian
displacement distribution at each volume element (voxel). Typically the
inference is based on a linearized log-normal regression model that can fit the
spectral data at low frequencies. However such approximation fails to fit the
high frequency measurements which contain information about the details of the
displacement distribution but have a low signal to noise ratio. In this paper,
we directly work with the Rice noise model and cover the full range of
-values. Using data augmentation to represent the likelihood, we reduce the
non-linear regression problem to the framework of generalized linear models.
Then we construct a Bayesian hierarchical model in order to perform
simultaneously estimation and regularization of the tensor field. Finally the
Bayesian paradigm is implemented by using Markov chain Monte Carlo.Comment: 37 pages, 3 figure
On the Stability and the Approximation of Branching Distribution Flows, with Applications to Nonlinear Multiple Target Filtering
We analyse the exponential stability properties of a class of measure-valued
equations arising in nonlinear multi-target filtering problems. We also prove
the uniform convergence properties w.r.t. the time parameter of a rather
general class of stochastic filtering algorithms, including sequential Monte
Carlo type models and mean eld particle interpretation models. We illustrate
these results in the context of the Bernoulli and the Probability Hypothesis
Density filter, yielding what seems to be the first results of this kind in
this subject
Diffusion Adaptation Strategies for Distributed Estimation over Gaussian Markov Random Fields
The aim of this paper is to propose diffusion strategies for distributed
estimation over adaptive networks, assuming the presence of spatially
correlated measurements distributed according to a Gaussian Markov random field
(GMRF) model. The proposed methods incorporate prior information about the
statistical dependency among observations, while at the same time processing
data in real-time and in a fully decentralized manner. A detailed mean-square
analysis is carried out in order to prove stability and evaluate the
steady-state performance of the proposed strategies. Finally, we also
illustrate how the proposed techniques can be easily extended in order to
incorporate thresholding operators for sparsity recovery applications.
Numerical results show the potential advantages of using such techniques for
distributed learning in adaptive networks deployed over GMRF.Comment: Submitted to IEEE Transactions on Signal Processing. arXiv admin
note: text overlap with arXiv:1206.309
fMRI activation detection with EEG priors
The purpose of brain mapping techniques is to advance the understanding of the relationship between structure and function in the human brain in so-called activation studies. In this work, an advanced statistical model for combining functional magnetic resonance imaging (fMRI) and electroencephalography (EEG) recordings is developed to fuse complementary information about the location of neuronal activity. More precisely, a new Bayesian method is proposed for enhancing fMRI activation detection by the use of EEG-based spatial prior information in stimulus based experimental paradigms. I.e., we model and analyse stimulus influence by a spatial Bayesian variable selection scheme, and extend existing high-dimensional regression methods by incorporating prior information on binary selection indicators via a latent probit regression with either a spatially-varying or constant EEG effect. Spatially-varying effects are regularized by intrinsic Markov random field priors. Inference is based on a full Bayesian Markov Chain Monte Carlo (MCMC) approach. Whether the proposed algorithm is able to increase the sensitivity of mere fMRI models is examined in both a real-world application and a simulation study. We observed, that carefully selected EEG--prior information additionally increases sensitivity in activation regions that have been distorted by a low signal-to-noise ratio
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