A new algorithm for latent state estimation in nonlinear time series models

We consider the problem of optimal state estimation for a wide class of nonlinear time series models. A modified sigma point filter is proposed, which uses a new procedure for generating sigma points. Unlike the existing sigma point generation methodologies in engineering where negative probability weights may occur, we develop an algorithm capable of generating sample points that always form a valid probability distribution while still allowing the user to sample using a random number generator. The effectiveness of the new filtering procedure is assessed through simulation examples

High resolution CMB power spectrum from the complete ACBAR data set

In this paper, we present results from the complete set of cosmic microwave background (CMB) radiation temperature anisotropy observations made with the Arcminute Cosmology Bolometer Array Receiver (ACBAR) operating at 150 GHz. We include new data from the final 2005 observing season, expanding the number of detector-hours by 210% and the sky coverage by 490% over that used for the previous ACBAR release. As a result, the band-power uncertainties have been reduced by more than a factor of two on angular scales encompassing the third to fifth acoustic peaks as well as the damping tail of the CMB power spectrum. The calibration uncertainty has been reduced from 6% to 2.1% in temperature through a direct comparison of the CMB anisotropy measured by ACBAR with that of the dipole-calibrated WMAP5 experiment. The measured power spectrum is consistent with a spatially flat, LambdaCDM cosmological model. We include the effects of weak lensing in the power spectrum model computations and find that this significantly improves the fits of the models to the combined ACBAR+WMAP5 power spectrum. The preferred strength of the lensing is consistent with theoretical expectations. On fine angular scales, there is weak evidence (1.1 sigma) for excess power above the level expected from primary anisotropies. We expect any excess power to be dominated by the combination of emission from dusty protogalaxies and the Sunyaev-Zel'dovich effect (SZE). However, the excess observed by ACBAR is significantly smaller than the excess power at ell > 2000 reported by the CBI experiment operating at 30 GHz. Therefore, while it is unlikely that the CBI excess has a primordial origin; the combined ACBAR and CBI results are consistent with the source of the CBI excess being either the SZE or radio source contamination.Comment: Submitted to ApJ; Changed to apply a WMAP5-based calibration. The cosmological parameter estimation has been updated to include WMAP

A Measurement of the Angular Power Spectrum of the CMB Temperature Anisotropy from the 2003 Flight of Boomerang

We report on observations of the Cosmic Microwave Background (CMB) obtained during the January 2003 flight of Boomerang . These results are derived from 195 hours of observation with four 145 GHz Polarization Sensitive Bolometer (PSB) pairs, identical in design to the four 143 GHz Planck HFI polarized pixels. The data include 75 hours of observations distributed over 1.84% of the sky with an additional 120 hours concentrated on the central portion of the field, itself representing 0.22% of the full sky. From these data we derive an estimate of the angular power spectrum of temperature fluctuations of the CMB in 24 bands over the multipole range (50 < l < 1500). A series of features, consistent with those expected from acoustic oscillations in the primordial photon-baryon fluid, are clearly evident in the power spectrum, as is the exponential damping of power on scales smaller than the photon mean free path at the epoch of last scattering (l > 900). As a consistency check, the collaboration has performed two fully independent analyses of the time ordered data, which are found to be in excellent agreement.Comment: 11 pages, 7 figures, 3 tables. High resolution figures and data are available at http://cmb.phys.cwru.edu/boomerang/ and http://oberon.roma1.infn.it/boomerang/b2

Voids as a Precision Probe of Dark Energy

A signature of the dark energy equation of state may be observed in the shape of voids. We estimate the constraints on cosmological parameters that would be determined from the ellipticity distribution of voids from future spectroscopic surveys already planned for the study of large scale structure. The constraints stem from the sensitivity of the distribution of ellipticity to the cosmological parameters through the variance of fluctuations of the density field smoothed at some length scale. This length scale can be chosen to be of the order of the comoving radii of voids at very early times when the fluctuations are Gaussian distributed. We use Fisher estimates to show that the constraints from void ellipticities are promising. Combining these constraints with other traditional methods results in the improvement of the Dark Energy Task Force Figure of Merit on the dark energy parameters by an order of hundred for future experiments. The estimates of these future constraints depend on a number of systematic issues which require further study using simulations. We outline these issues and study the impact of certain observational and theoretical systematics on the forecasted constraints on dark energy parameters.Comment: Submitted to PRD, 22 pages 9 figure

Quasar Host Environments: The view from Planck

We measure the far-infrared emission of the general quasar (QSO) population using Planck observations of the Baryon Oscillation Spectroscopic Survey QSO sample. By applying multi-component matched multi-filters to the seven highest Planck frequencies, we extract the amplitudes of dust, synchrotron and thermal Sunyaev-Zeldovich (SZ) signals for nearly 300,000 QSOs over the redshift range $0.1<z<5$. We bin these individually low signal-to-noise measurements to obtain the mean emission properties of the QSO population as a function of redshift. The emission is dominated by dust at all redshifts, with a peak at $z \sim 2$, the same location as the peak in the general cosmic star formation rate. Restricting analysis to radio-loud QSOs, we find synchrotron emission with a monochromatic luminosity at $100\,\rm{GHz}$ (rest-frame) rising from $\overline{L_{\rm synch}}=0$ to $0.2 \, {\rm L_\odot} {\rm Hz}^{-1}$ between $z=0$ and 3. The radio-quiet subsample does not show any synchrotron emission, but we detect thermal SZ between $z=2.5$ and 4; no significant SZ emission is seen at lower redshifts. Depending on the supposed mass for the halos hosting the QSOs, this may or may not leave room for heating of the halo gas by feedback from the QSO.Comment: 14 pages, 11 figures, accepted by A&

Keyframe-based visual–inertial odometry using nonlinear optimization

Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate visual–inertial odometry or simultaneous localization and mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that nonlinear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspiration from these findings, we formulate a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms. The problem is kept tractable and thus ensuring real-time operation by limiting the optimization to a bounded window of keyframes through marginalization. Keyframes may be spaced in time by arbitrary intervals, while still related by linearized inertial terms. We present evaluation results on complementary datasets recorded with our custom-built stereo visual–inertial hardware that accurately synchronizes accelerometer and gyroscope measurements with imagery. A comparison of both a stereo and monocular version of our algorithm with and without online extrinsics estimation is shown with respect to ground truth. Furthermore, we compare the performance to an implementation of a state-of-the-art stochastic cloning sliding-window filter. This competitive reference implementation performs tightly coupled filtering-based visual–inertial odometry. While our approach declaredly demands more computation, we show its superior performance in terms of accuracy

Constraining Large Scale Structure Theories with the Cosmic Background Radiation

We review the relevant 10+ parameters associated with inflation and matter content; the relation between LSS and primary and secondary CMB anisotropy probes; COBE constraints on energy injection; current anisotropy band-powers which strongly support the gravitational instability theory and suggest the universe could not have reionized too early. We use Bayesian analysis methods to determine what current CMB and CMB+LSS data imply for inflation-based Gaussian fluctuations in tilted $\Lambda$CDM, $\Lambda$hCDM and oCDM model sequences with age 11-15 Gyr, consisting of mixtures of baryons, cold (and possibly hot) dark matter, vacuum energy, and curvature energy in open cosmologies. For example, we find the slope of the initial spectrum is within about 5% of the (preferred) scale invariant form when just the CMB data is used, and for $\Lambda$CDM when LSS data is combined with CMB; with both, a nonzero value of $\Omega_\Lambda$ is strongly preferred ($\approx 2/3$ for a 13 Gyr sequence, similar to the value from SNIa). The $o$CDM sequence prefers $\Omega_{tot}<1$, but is overall much less likely than the flat $\Omega_\Lambda \ne 0$ sequence with CMB+LSS. We also review the rosy forecasts of angular power spectra and parameter estimates from future balloon and satellite experiments when foreground and systematic effects are ignored.Comment: 20 pages, LaTeX, 5 figures, 2 tables, uses rspublic.sty To appear in Philosophical Transactions of the Royal Society of London A, 1998. "Discussion Meeting on Large Scale Structure in the Universe," Royal Society, London, March 1998. Text and colour figures also available at ftp://ftp.cita.utoronto.ca/bond/roysoc9

The Sunyaev-Zeldovich effect in CMB-calibrated theories applied to the Cosmic Background Imager anisotropy power at l > 2000

We discuss the nature of the possible high-l excess in the Cosmic Microwave Background (CMB) anisotropy power spectrum observed by the Cosmic Background Imager (CBI). We probe the angular structure of the excess in the CBI deep fields and investigate whether it could be due to the scattering of CMB photons by hot electrons within clusters, the Sunyaev-Zeldovich (SZ) effect. We estimate the density fluctuation parameters for amplitude, sigma_8, and shape, Gamma, from CMB primary anisotropy data and other cosmological data. We use the results of two separate hydrodynamical codes for Lambda-CDM cosmologies, consistent with the allowed sigma_8 and Gamma values, to quantify the expected contribution from the SZ effect to the bandpowers of the CBI experiment and pass simulated SZ effect maps through our CBI analysis pipeline. The result is very sensitive to the value of sigma_8, and is roughly consistent with the observed power if sigma_8 ~ 1. We conclude that the CBI anomaly could be a result of the SZ effect for the class of Lambda-CDM concordance models if sigma_8 is in the upper range of values allowed by current CMB and Large Scale Structure (LSS) data.Comment: Accepted by The Astrophysical Journal; 17 pages including 12 color figures. v2 matches accepted version. Additional information at http://www.astro.caltech.edu/~tjp/CBI