375 research outputs found
Nonparametric Belief Propagation and Facial Appearance Estimation
In many applications of graphical models arising in computer vision, the hidden variables of interest are most naturally specified by continuous, non-Gaussian distributions. There exist inference algorithms for discrete approximations to these continuous distributions, but for the high-dimensional variables typically of interest, discrete inference becomes infeasible. Stochastic methods such as particle filters provide an appealing alternative. However, existing techniques fail to exploit the rich structure of the graphical models describing many vision problems. Drawing on ideas from regularized particle filters and belief propagation (BP), this paper develops a nonparametric belief propagation (NBP) algorithm applicable to general graphs. Each NBP iteration uses an efficient sampling procedure to update kernel-based approximations to the true, continuous likelihoods. The algorithm can accomodate an extremely broad class of potential functions, including nonparametric representations. Thus, NBP extends particle filtering methods to the more general vision problems that graphical models can describe. We apply the NBP algorithm to infer component interrelationships in a parts-based face model, allowing location and reconstruction of occluded features
Reducing communication overhead for cooperative localization using nonparametric belief propagation
A number of methods for cooperative localization has been proposed, but most of them provide only location estimate, without associated uncertainty. On the other hand, nonparametric belief propagation (NBP), which provides approximated posterior distributions of the location estimates, is expensive mostly because of the transmission of the particles. In this paper, we propose a novel approach to reduce communication overhead for cooperative positioning using NBP. It is based on: i) communication of the beliefs (instead of the messages), ii) approximation of the belief with Gaussian mixture of very few components, and iii) censoring. According to our simulations results, these modifications reduce significantly communication overhead while providing the estimates almost as accurate as the transmission of the particles
Simultaneous Distributed Sensor Self-Localization and Target Tracking Using Belief Propagation and Likelihood Consensus
We introduce the framework of cooperative simultaneous localization and
tracking (CoSLAT), which provides a consistent combination of cooperative
self-localization (CSL) and distributed target tracking (DTT) in sensor
networks without a fusion center. CoSLAT extends simultaneous localization and
tracking (SLAT) in that it uses also intersensor measurements. Starting from a
factor graph formulation of the CoSLAT problem, we develop a particle-based,
distributed message passing algorithm for CoSLAT that combines nonparametric
belief propagation with the likelihood consensus scheme. The proposed CoSLAT
algorithm improves on state-of-the-art CSL and DTT algorithms by exchanging
probabilistic information between CSL and DTT. Simulation results demonstrate
substantial improvements in both self-localization and tracking performance.Comment: 10 pages, 5 figure
A Low Density Lattice Decoder via Non-Parametric Belief Propagation
The recent work of Sommer, Feder and Shalvi presented a new family of codes
called low density lattice codes (LDLC) that can be decoded efficiently and
approach the capacity of the AWGN channel. A linear time iterative decoding
scheme which is based on a message-passing formulation on a factor graph is
given.
In the current work we report our theoretical findings regarding the relation
between the LDLC decoder and belief propagation. We show that the LDLC decoder
is an instance of non-parametric belief propagation and further connect it to
the Gaussian belief propagation algorithm. Our new results enable borrowing
knowledge from the non-parametric and Gaussian belief propagation domains into
the LDLC domain. Specifically, we give more general convergence conditions for
convergence of the LDLC decoder (under the same assumptions of the original
LDLC convergence analysis). We discuss how to extend the LDLC decoder from
Latin square to full rank, non-square matrices. We propose an efficient
construction of sparse generator matrix and its matching decoder. We report
preliminary experimental results which show our decoder has comparable symbol
to error rate compared to the original LDLC decoder.%Comment: Submitted for publicatio
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