Mean shift cluster recognition method implementation in the nested sampling algorithm

Nested sampling is an efficient algorithm for the calculation of the Bayesian evidence and posterior parameter probability distributions. It is based on the step-by-step exploration of the parameter space by Monte Carlo sampling with a series of values sets called live points that evolve towards the region of interest, i.e. where the likelihood function is maximal. In presence of several local likelihood maxima, the algorithm converges with difficulty. Some systematic errors can also be introduced by unexplored parameter volume regions. In order to avoid this, different methods are proposed in the literature for an efficient search of new live points, even in presence of local maxima. Here we present a new solution based on the mean shift cluster recognition method implemented in a random walk search algorithm. The clustering recognition is integrated within the Bayesian analysis program NestedFit. It is tested with the analysis of some difficult cases. Compared to the analysis results without cluster recognition, the computation time is considerably reduced. At the same time, the entire parameter space is efficiently explored, which translates into a smaller uncertainty of the extracted value of the Bayesian evidence

Radar-based Feature Design and Multiclass Classification for Road User Recognition

The classification of individual traffic participants is a complex task, especially for challenging scenarios with multiple road users or under bad weather conditions. Radar sensors provide an - with respect to well established camera systems - orthogonal way of measuring such scenes. In order to gain accurate classification results, 50 different features are extracted from the measurement data and tested on their performance. From these features a suitable subset is chosen and passed to random forest and long short-term memory (LSTM) classifiers to obtain class predictions for the radar input. Moreover, it is shown why data imbalance is an inherent problem in automotive radar classification when the dataset is not sufficiently large. To overcome this issue, classifier binarization is used among other techniques in order to better account for underrepresented classes. A new method to couple the resulting probabilities is proposed and compared to others with great success. Final results show substantial improvements when compared to ordinary multiclass classificationComment: 8 pages, 6 figure