16,800 research outputs found
The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker
Reliable collision avoidance is one of the main requirements for autonomous
driving. Hence, it is important to correctly estimate the states of an unknown
number of static and dynamic objects in real-time. Here, data association is a
major challenge for every multi-target tracker. We propose a novel multi-target
tracker called Greedy Dirichlet Process Filter (GDPF) based on the
non-parametric Bayesian model called Dirichlet Processes and the fast posterior
computation algorithm Sequential Updating and Greedy Search (SUGS). By adding a
temporal dependence we get a real-time capable tracking framework without the
need of a previous clustering or data association step. Real-world tests show
that GDPF outperforms other multi-target tracker in terms of accuracy and
stability
Variational Downscaling, Fusion and Assimilation of Hydrometeorological States via Regularized Estimation
Improved estimation of hydrometeorological states from down-sampled
observations and background model forecasts in a noisy environment, has been a
subject of growing research in the past decades. Here, we introduce a unified
framework that ties together the problems of downscaling, data fusion and data
assimilation as ill-posed inverse problems. This framework seeks solutions
beyond the classic least squares estimation paradigms by imposing proper
regularization, which are constraints consistent with the degree of smoothness
and probabilistic structure of the underlying state. We review relevant
regularization methods in derivative space and extend classic formulations of
the aforementioned problems with particular emphasis on hydrologic and
atmospheric applications. Informed by the statistical characteristics of the
state variable of interest, the central results of the paper suggest that
proper regularization can lead to a more accurate and stable recovery of the
true state and hence more skillful forecasts. In particular, using the Tikhonov
and Huber regularization in the derivative space, the promise of the proposed
framework is demonstrated in static downscaling and fusion of synthetic
multi-sensor precipitation data, while a data assimilation numerical experiment
is presented using the heat equation in a variational setting
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