6,406 research outputs found
Bayesian orthogonal component analysis for sparse representation
This paper addresses the problem of identifying a lower dimensional space
where observed data can be sparsely represented. This under-complete dictionary
learning task can be formulated as a blind separation problem of sparse sources
linearly mixed with an unknown orthogonal mixing matrix. This issue is
formulated in a Bayesian framework. First, the unknown sparse sources are
modeled as Bernoulli-Gaussian processes. To promote sparsity, a weighted
mixture of an atom at zero and a Gaussian distribution is proposed as prior
distribution for the unobserved sources. A non-informative prior distribution
defined on an appropriate Stiefel manifold is elected for the mixing matrix.
The Bayesian inference on the unknown parameters is conducted using a Markov
chain Monte Carlo (MCMC) method. A partially collapsed Gibbs sampler is
designed to generate samples asymptotically distributed according to the joint
posterior distribution of the unknown model parameters and hyperparameters.
These samples are then used to approximate the joint maximum a posteriori
estimator of the sources and mixing matrix. Simulations conducted on synthetic
data are reported to illustrate the performance of the method for recovering
sparse representations. An application to sparse coding on under-complete
dictionary is finally investigated.Comment: Revised version. Accepted to IEEE Trans. Signal Processin
Modeling and interpolation of the ambient magnetic field by Gaussian processes
Anomalies in the ambient magnetic field can be used as features in indoor
positioning and navigation. By using Maxwell's equations, we derive and present
a Bayesian non-parametric probabilistic modeling approach for interpolation and
extrapolation of the magnetic field. We model the magnetic field components
jointly by imposing a Gaussian process (GP) prior on the latent scalar
potential of the magnetic field. By rewriting the GP model in terms of a
Hilbert space representation, we circumvent the computational pitfalls
associated with GP modeling and provide a computationally efficient and
physically justified modeling tool for the ambient magnetic field. The model
allows for sequential updating of the estimate and time-dependent changes in
the magnetic field. The model is shown to work well in practice in different
applications: we demonstrate mapping of the magnetic field both with an
inexpensive Raspberry Pi powered robot and on foot using a standard smartphone.Comment: 17 pages, 12 figures, to appear in IEEE Transactions on Robotic
Derivative-free online learning of inverse dynamics models
This paper discusses online algorithms for inverse dynamics modelling in
robotics. Several model classes including rigid body dynamics (RBD) models,
data-driven models and semiparametric models (which are a combination of the
previous two classes) are placed in a common framework. While model classes
used in the literature typically exploit joint velocities and accelerations,
which need to be approximated resorting to numerical differentiation schemes,
in this paper a new `derivative-free' framework is proposed that does not
require this preprocessing step. An extensive experimental study with real data
from the right arm of the iCub robot is presented, comparing different model
classes and estimation procedures, showing that the proposed `derivative-free'
methods outperform existing methodologies.Comment: 14 pages, 11 figure
Exact Dimensionality Selection for Bayesian PCA
We present a Bayesian model selection approach to estimate the intrinsic
dimensionality of a high-dimensional dataset. To this end, we introduce a novel
formulation of the probabilisitic principal component analysis model based on a
normal-gamma prior distribution. In this context, we exhibit a closed-form
expression of the marginal likelihood which allows to infer an optimal number
of components. We also propose a heuristic based on the expected shape of the
marginal likelihood curve in order to choose the hyperparameters. In
non-asymptotic frameworks, we show on simulated data that this exact
dimensionality selection approach is competitive with both Bayesian and
frequentist state-of-the-art methods
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