Path sampling for particle filters with application to multi-target tracking

In recent work (arXiv:1006.3100v1), we have presented a novel approach for improving particle filters for multi-target tracking. The suggested approach was based on drift homotopy for stochastic differential equations. Drift homotopy was used to design a Markov Chain Monte Carlo step which is appended to the particle filter and aims to bring the particle filter samples closer to the observations. In the current work, we present an alternative way to append a Markov Chain Monte Carlo step to a particle filter to bring the particle filter samples closer to the observations. Both current and previous approaches stem from the general formulation of the filtering problem. We have used the currently proposed approach on the problem of multi-target tracking for both linear and nonlinear observation models. The numerical results show that the suggested approach can improve significantly the performance of a particle filter.Comment: Minor corrections, 23 pages, 8 figures. This is a companion paper to arXiv:1006.3100v

Bayesian quantification for coherent anti-Stokes Raman scattering spectroscopy

We propose a Bayesian statistical model for analyzing coherent anti-Stokes Raman scattering (CARS) spectra. Our quantitative analysis includes statistical estimation of constituent line-shape parameters, underlying Raman signal, error-corrected CARS spectrum, and the measured CARS spectrum. As such, this work enables extensive uncertainty quantification in the context of CARS spectroscopy. Furthermore, we present an unsupervised method for improving spectral resolution of Raman-like spectra requiring little to no \textit{a priori} information. Finally, the recently-proposed wavelet prism method for correcting the experimental artefacts in CARS is enhanced by using interpolation techniques for wavelets. The method is validated using CARS spectra of adenosine mono-, di-, and triphosphate in water, as well as, equimolar aqueous solutions of D-fructose, D-glucose, and their disaccharide combination sucrose

Multiple object tracking using an automatic veriable-dimension particle filter

Object tracking through particle filtering has been widely addressed in recent years. However, most works assume a constant number of objects or utilize an external detector that monitors the entry or exit of objects in the scene. In this work, a novel tracking method based on particle filtering that is able to automatically track a variable number of objects is presented. As opposed to classical prior data assignment approaches, adaptation of tracks to the measurements is managed globally. Additionally, the designed particle filter is able to generate hypotheses on the presence of new objects in the scene, and to confirm or dismiss them by gradually adapting to the global observation. The method is especially suited for environments where traditional object detectors render noisy measurements and frequent artifacts, such as that given by a camera mounted on a vehicle, where it is proven to yield excellent results

A population Monte Carlo scheme with transformed weights and its application to stochastic kinetic models

This paper addresses the problem of Monte Carlo approximation of posterior probability distributions. In particular, we have considered a recently proposed technique known as population Monte Carlo (PMC), which is based on an iterative importance sampling approach. An important drawback of this methodology is the degeneracy of the importance weights when the dimension of either the observations or the variables of interest is high. To alleviate this difficulty, we propose a novel method that performs a nonlinear transformation on the importance weights. This operation reduces the weight variation, hence it avoids their degeneracy and increases the efficiency of the importance sampling scheme, specially when drawing from a proposal functions which are poorly adapted to the true posterior. For the sake of illustration, we have applied the proposed algorithm to the estimation of the parameters of a Gaussian mixture model. This is a very simple problem that enables us to clearly show and discuss the main features of the proposed technique. As a practical application, we have also considered the popular (and challenging) problem of estimating the rate parameters of stochastic kinetic models (SKM). SKMs are highly multivariate systems that model molecular interactions in biological and chemical problems. We introduce a particularization of the proposed algorithm to SKMs and present numerical results.Comment: 35 pages, 8 figure

Scaled unscented transform Gaussian sum filter: theory and application

In this work we consider the state estimation problem in nonlinear/non-Gaussian systems. We introduce a framework, called the scaled unscented transform Gaussian sum filter (SUT-GSF), which combines two ideas: the scaled unscented Kalman filter (SUKF) based on the concept of scaled unscented transform (SUT), and the Gaussian mixture model (GMM). The SUT is used to approximate the mean and covariance of a Gaussian random variable which is transformed by a nonlinear function, while the GMM is adopted to approximate the probability density function (pdf) of a random variable through a set of Gaussian distributions. With these two tools, a framework can be set up to assimilate nonlinear systems in a recursive way. Within this framework, one can treat a nonlinear stochastic system as a mixture model of a set of sub-systems, each of which takes the form of a nonlinear system driven by a known Gaussian random process. Then, for each sub-system, one applies the SUKF to estimate the mean and covariance of the underlying Gaussian random variable transformed by the nonlinear governing equations of the sub-system. Incorporating the estimations of the sub-systems into the GMM gives an explicit (approximate) form of the pdf, which can be regarded as a "complete" solution to the state estimation problem, as all of the statistical information of interest can be obtained from the explicit form of the pdf ... This work is on the construction of the Gaussian sum filter based on the scaled unscented transform