13,765 research outputs found
Stochastic filtering via L2 projection on mixture manifolds with computer algorithms and numerical examples
We examine some differential geometric approaches to finding approximate
solutions to the continuous time nonlinear filtering problem. Our primary focus
is a new projection method for the optimal filter infinite dimensional
Stochastic Partial Differential Equation (SPDE), based on the direct L2 metric
and on a family of normal mixtures. We compare this method to earlier
projection methods based on the Hellinger distance/Fisher metric and
exponential families, and we compare the L2 mixture projection filter with a
particle method with the same number of parameters, using the Levy metric. We
prove that for a simple choice of the mixture manifold the L2 mixture
projection filter coincides with a Galerkin method, whereas for more general
mixture manifolds the equivalence does not hold and the L2 mixture filter is
more general. We study particular systems that may illustrate the advantages of
this new filter over other algorithms when comparing outputs with the optimal
filter. We finally consider a specific software design that is suited for a
numerically efficient implementation of this filter and provide numerical
examples.Comment: Updated and expanded version published in the Journal reference
below. Preprint updates: January 2016 (v3) added projection of Zakai Equation
and difference with projection of Kushner-Stratonovich (section 4.1). August
2014 (v2) added Galerkin equivalence proof (Section 5) to the March 2013 (v1)
versio
Differential fast fixed-point algorithms for underdetermined instantaneous and convolutive partial blind source separation
This paper concerns underdetermined linear instantaneous and convolutive
blind source separation (BSS), i.e., the case when the number of observed mixed
signals is lower than the number of sources.We propose partial BSS methods,
which separate supposedly nonstationary sources of interest (while keeping
residual components for the other, supposedly stationary, "noise" sources).
These methods are based on the general differential BSS concept that we
introduced before. In the instantaneous case, the approach proposed in this
paper consists of a differential extension of the FastICA method (which does
not apply to underdetermined mixtures). In the convolutive case, we extend our
recent time-domain fast fixed-point C-FICA algorithm to underdetermined
mixtures. Both proposed approaches thus keep the attractive features of the
FastICA and C-FICA methods. Our approaches are based on differential sphering
processes, followed by the optimization of the differential nonnormalized
kurtosis that we introduce in this paper. Experimental tests show that these
differential algorithms are much more robust to noise sources than the standard
FastICA and C-FICA algorithms.Comment: this paper describes our differential FastICA-like algorithms for
linear instantaneous and convolutive underdetermined mixture
A Generative Model of Natural Texture Surrogates
Natural images can be viewed as patchworks of different textures, where the
local image statistics is roughly stationary within a small neighborhood but
otherwise varies from region to region. In order to model this variability, we
first applied the parametric texture algorithm of Portilla and Simoncelli to
image patches of 64X64 pixels in a large database of natural images such that
each image patch is then described by 655 texture parameters which specify
certain statistics, such as variances and covariances of wavelet coefficients
or coefficient magnitudes within that patch.
To model the statistics of these texture parameters, we then developed
suitable nonlinear transformations of the parameters that allowed us to fit
their joint statistics with a multivariate Gaussian distribution. We find that
the first 200 principal components contain more than 99% of the variance and
are sufficient to generate textures that are perceptually extremely close to
those generated with all 655 components. We demonstrate the usefulness of the
model in several ways: (1) We sample ensembles of texture patches that can be
directly compared to samples of patches from the natural image database and can
to a high degree reproduce their perceptual appearance. (2) We further
developed an image compression algorithm which generates surprisingly accurate
images at bit rates as low as 0.14 bits/pixel. Finally, (3) We demonstrate how
our approach can be used for an efficient and objective evaluation of samples
generated with probabilistic models of natural images.Comment: 34 pages, 9 figure
Parallelized Particle and Gaussian Sum Particle Filters for Large Scale Freeway Traffic Systems
Large scale traffic systems require techniques able to: 1) deal with high amounts of data and heterogenous data coming from different types of sensors, 2) provide robustness in the presence of sparse sensor data, 3) incorporate different models that can deal with various traffic regimes, 4) cope with multimodal conditional probability density functions for the states. Often centralized architectures face challenges due to high communication demands. This paper develops new estimation techniques able to cope with these problems of large traffic network systems. These are Parallelized Particle Filters (PPFs) and a Parallelized Gaussian Sum Particle Filter (PGSPF) that are suitable for on-line traffic management. We show how complex probability density functions of the high dimensional trafc state can be decomposed into functions with simpler forms and the whole estimation problem solved in an efcient way. The proposed approach is general, with limited interactions which reduces the computational time and provides high estimation accuracy. The efciency of the PPFs and PGSPFs is evaluated in terms of accuracy, complexity and communication demands and compared with the case where all processing is centralized
Bibliographic Review on Distributed Kalman Filtering
In recent years, a compelling need has arisen to understand the effects of distributed information structures on estimation and filtering. In this paper, a bibliographical review on distributed Kalman filtering (DKF) is provided.\ud
The paper contains a classification of different approaches and methods involved to DKF. The applications of DKF are also discussed and explained separately. A comparison of different approaches is briefly carried out. Focuses on the contemporary research are also addressed with emphasis on the practical applications of the techniques. An exhaustive list of publications, linked directly or indirectly to DKF in the open literature, is compiled to provide an overall picture of different developing aspects of this area
A Fast Gradient Approximation for Nonlinear Blind Signal Processing
When dealing with nonlinear blind processing algorithms (deconvolution or post-nonlinear source separation), complex mathematical estimations must be done giving as a result very slow algorithms. This is the case, for example, in speech processing, spike signals deconvolution or microarray data analysis. In this paper, we propose a simple method to reduce computational time for the inversion of Wiener systems or the separation of post-nonlinear mixtures, by using a linear approximation in a minimum mutual information algorithm. Simulation results demonstrate that linear spline interpolation is fast and accurate, obtaining very good results (similar to those obtained without approximation) while computational time is dramatically decreased. On the other hand, cubic spline interpolation also obtains similar good results, but due to its intrinsic complexity, the global algorithm is much more slow and hence not useful for our purpose
Probabilistic Framework for Sensor Management
A probabilistic sensor management framework is introduced, which maximizes the utility of sensor systems with many different sensing modalities by dynamically configuring the sensor system in the most beneficial way. For this purpose, techniques from stochastic control and Bayesian estimation are combined such that long-term effects of possible sensor configurations and stochastic uncertainties resulting from noisy measurements can be incorporated into the sensor management decisions
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