Poisson Multi-Bernoulli Mapping Using Gibbs Sampling

This paper addresses the mapping problem. Using a conjugate prior form, we derive the exact theoretical batch multi-object posterior density of the map given a set of measurements. The landmarks in the map are modeled as extended objects, and the measurements are described as a Poisson process, conditioned on the map. We use a Poisson process prior on the map and prove that the posterior distribution is a hybrid Poisson, multi-Bernoulli mixture distribution. We devise a Gibbs sampling algorithm to sample from the batch multi-object posterior. The proposed method can handle uncertainties in the data associations and the cardinality of the set of landmarks, and is parallelizable, making it suitable for large-scale problems. The performance of the proposed method is evaluated on synthetic data and is shown to outperform a state-of-the-art method.Comment: 14 pages, 6 figure

A unifying representation for a class of dependent random measures

We present a general construction for dependent random measures based on thinning Poisson processes on an augmented space. The framework is not restricted to dependent versions of a specific nonparametric model, but can be applied to all models that can be represented using completely random measures. Several existing dependent random measures can be seen as specific cases of this framework. Interesting properties of the resulting measures are derived and the efficacy of the framework is demonstrated by constructing a covariate-dependent latent feature model and topic model that obtain superior predictive performance

Priors for Random Count Matrices Derived from a Family of Negative Binomial Processes

We define a family of probability distributions for random count matrices with a potentially unbounded number of rows and columns. The three distributions we consider are derived from the gamma-Poisson, gamma-negative binomial, and beta-negative binomial processes. Because the models lead to closed-form Gibbs sampling update equations, they are natural candidates for nonparametric Bayesian priors over count matrices. A key aspect of our analysis is the recognition that, although the random count matrices within the family are defined by a row-wise construction, their columns can be shown to be i.i.d. This fact is used to derive explicit formulas for drawing all the columns at once. Moreover, by analyzing these matrices' combinatorial structure, we describe how to sequentially construct a column-i.i.d. random count matrix one row at a time, and derive the predictive distribution of a new row count vector with previously unseen features. We describe the similarities and differences between the three priors, and argue that the greater flexibility of the gamma- and beta- negative binomial processes, especially their ability to model over-dispersed, heavy-tailed count data, makes these well suited to a wide variety of real-world applications. As an example of our framework, we construct a naive-Bayes text classifier to categorize a count vector to one of several existing random count matrices of different categories. The classifier supports an unbounded number of features, and unlike most existing methods, it does not require a predefined finite vocabulary to be shared by all the categories, and needs neither feature selection nor parameter tuning. Both the gamma- and beta- negative binomial processes are shown to significantly outperform the gamma-Poisson process for document categorization, with comparable performance to other state-of-the-art supervised text classification algorithms.Comment: To appear in Journal of the American Statistical Association (Theory and Methods). 31 pages + 11 page supplement, 5 figure

On the Stability and the Approximation of Branching Distribution Flows, with Applications to Nonlinear Multiple Target Filtering

We analyse the exponential stability properties of a class of measure-valued equations arising in nonlinear multi-target filtering problems. We also prove the uniform convergence properties w.r.t. the time parameter of a rather general class of stochastic filtering algorithms, including sequential Monte Carlo type models and mean eld particle interpretation models. We illustrate these results in the context of the Bernoulli and the Probability Hypothesis Density filter, yielding what seems to be the first results of this kind in this subject

Modeling Infection with Multi-agent Dynamics

Developing the ability to comprehensively study infections in small populations enables us to improve epidemic models and better advise individuals about potential risks to their health. We currently have a limited understanding of how infections spread within a small population because it has been difficult to closely track an infection within a complete community. The paper presents data closely tracking the spread of an infection centered on a student dormitory, collected by leveraging the residents' use of cellular phones. The data are based on daily symptom surveys taken over a period of four months and proximity tracking through cellular phones. We demonstrate that using a Bayesian, discrete-time multi-agent model of infection to model real-world symptom reports and proximity tracking records gives us important insights about infec-tions in small populations