Decompounding on compact Lie groups

Noncommutative harmonic analysis is used to solve a nonparametric estimation problem stated in terms of compound Poisson processes on compact Lie groups. This problem of decompounding is a generalization of a similar classical problem. The proposed solution is based on a char- acteristic function method. The treated problem is important to recent models of the physical inverse problem of multiple scattering.Comment: 26 pages, 3 figures, 25 reference

Nonequilibrium and Nonlinear Dynamics in Geomaterials I : The Low Strain Regime

Members of a wide class of geomaterials are known to display complex and fascinating nonlinear and nonequilibrium dynamical behaviors over a wide range of bulk strains, down to surprisingly low values, e.g., 10^{-7}. In this paper we investigate two sandstones, Berea and Fontainebleau, and characterize their behavior under the influence of very small external forces via carefully controlled resonant bar experiments. By reducing environmental effects due to temperature and humidity variations, we are able to systematically and reproducibly study dynamical behavior at strains as low as 10^{-9}. Our study establishes the existence of two strain thresholds, the first, epsilon_L, below which the material is essentially linear, and the second, epsilon_M, below which the material is nonlinear but where quasiequilibrium thermodynamics still applies as evidenced by the success of Landau theory and a simple macroscopic description based on the Duffing oscillator. At strains above epsilon_M the behavior becomes truly nonequilibrium -- as demonstrated by the existence of material conditioning -- and Landau theory no longer applies. The main focus of this paper is the study of the region below the second threshold, but we also comment on how our work clarifies and resolves previous experimental conflicts, as well as suggest new directions of research.Comment: 14 pages, 15 figure

A scale-space approach with wavelets to singularity estimation

This paper is concerned with the problem of determining the typical features of a curve when it is observed with noise. It has been shown that one can characterize the Lipschitz singularities of a signal by following the propagation across scales of the modulus maxima of its continuous wavelet transform. A nonparametric approach, based on appropriate thresholding of the empirical wavelet coefficients, is proposed to estimate the wavelet maxima of a signal observed with noise at various scales. In order to identify the singularities of the unknown signal, we introduce a new tool, "the structural intensity", that computes the "density" of the location of the modulus maxima of a wavelet representation along various scales. This approach is shown to be an effective technique for detecting the significant singularities of a signal corrupted by noise and for removing spurious estimates. The asymptotic properties of the resulting estimators are studied and illustrated by simulations. An application to a real data set is also proposed

An agent-driven semantical identifier using radial basis neural networks and reinforcement learning

Due to the huge availability of documents in digital form, and the deception possibility raise bound to the essence of digital documents and the way they are spread, the authorship attribution problem has constantly increased its relevance. Nowadays, authorship attribution,for both information retrieval and analysis, has gained great importance in the context of security, trust and copyright preservation. This work proposes an innovative multi-agent driven machine learning technique that has been developed for authorship attribution. By means of a preprocessing for word-grouping and time-period related analysis of the common lexicon, we determine a bias reference level for the recurrence frequency of the words within analysed texts, and then train a Radial Basis Neural Networks (RBPNN)-based classifier to identify the correct author. The main advantage of the proposed approach lies in the generality of the semantic analysis, which can be applied to different contexts and lexical domains, without requiring any modification. Moreover, the proposed system is able to incorporate an external input, meant to tune the classifier, and then self-adjust by means of continuous learning reinforcement.Comment: Published on: Proceedings of the XV Workshop "Dagli Oggetti agli Agenti" (WOA 2014), Catania, Italy, Sepember. 25-26, 201

On-Manifold Preintegration for Real-Time Visual-Inertial Odometry

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time, this problem is further emphasized by the fact that inertial measurements come at high rate, hence leading to fast growth of the number of variables in the optimization. In this paper, we address this issue by preintegrating inertial measurements between selected keyframes into single relative motion constraints. Our first contribution is a \emph{preintegration theory} that properly addresses the manifold structure of the rotation group. We formally discuss the generative measurement model as well as the nature of the rotation noise and derive the expression for the \emph{maximum a posteriori} state estimator. Our theoretical development enables the computation of all necessary Jacobians for the optimization and a-posteriori bias correction in analytic form. The second contribution is to show that the preintegrated IMU model can be seamlessly integrated into a visual-inertial pipeline under the unifying framework of factor graphs. This enables the application of incremental-smoothing algorithms and the use of a \emph{structureless} model for visual measurements, which avoids optimizing over the 3D points, further accelerating the computation. We perform an extensive evaluation of our monocular \VIO pipeline on real and simulated datasets. The results confirm that our modelling effort leads to accurate state estimation in real-time, outperforming state-of-the-art approaches.Comment: 20 pages, 24 figures, accepted for publication in IEEE Transactions on Robotics (TRO) 201