25,256 research outputs found
The equivalence of information-theoretic and likelihood-based methods for neural dimensionality reduction
Stimulus dimensionality-reduction methods in neuroscience seek to identify a
low-dimensional space of stimulus features that affect a neuron's probability
of spiking. One popular method, known as maximally informative dimensions
(MID), uses an information-theoretic quantity known as "single-spike
information" to identify this space. Here we examine MID from a model-based
perspective. We show that MID is a maximum-likelihood estimator for the
parameters of a linear-nonlinear-Poisson (LNP) model, and that the empirical
single-spike information corresponds to the normalized log-likelihood under a
Poisson model. This equivalence implies that MID does not necessarily find
maximally informative stimulus dimensions when spiking is not well described as
Poisson. We provide several examples to illustrate this shortcoming, and derive
a lower bound on the information lost when spiking is Bernoulli in discrete
time bins. To overcome this limitation, we introduce model-based dimensionality
reduction methods for neurons with non-Poisson firing statistics, and show that
they can be framed equivalently in likelihood-based or information-theoretic
terms. Finally, we show how to overcome practical limitations on the number of
stimulus dimensions that MID can estimate by constraining the form of the
non-parametric nonlinearity in an LNP model. We illustrate these methods with
simulations and data from primate visual cortex
Network Uncertainty Informed Semantic Feature Selection for Visual SLAM
In order to facilitate long-term localization using a visual simultaneous
localization and mapping (SLAM) algorithm, careful feature selection can help
ensure that reference points persist over long durations and the runtime and
storage complexity of the algorithm remain consistent. We present SIVO
(Semantically Informed Visual Odometry and Mapping), a novel
information-theoretic feature selection method for visual SLAM which
incorporates semantic segmentation and neural network uncertainty into the
feature selection pipeline. Our algorithm selects points which provide the
highest reduction in Shannon entropy between the entropy of the current state
and the joint entropy of the state, given the addition of the new feature with
the classification entropy of the feature from a Bayesian neural network. Each
selected feature significantly reduces the uncertainty of the vehicle state and
has been detected to be a static object (building, traffic sign, etc.)
repeatedly with a high confidence. This selection strategy generates a sparse
map which can facilitate long-term localization. The KITTI odometry dataset is
used to evaluate our method, and we also compare our results against ORB_SLAM2.
Overall, SIVO performs comparably to the baseline method while reducing the map
size by almost 70%.Comment: Published in: 2019 16th Conference on Computer and Robot Vision (CRV
Learning Timbre Analogies from Unlabelled Data by Multivariate Tree Regression
This is the Author's Original Manuscript of an article whose final and definitive form, the Version of Record, has been published in the Journal of New Music Research, November 2011, copyright Taylor & Francis. The published article is available online at http://www.tandfonline.com/10.1080/09298215.2011.596938
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