Expressing Bayesian Fusion as a Product of Distributions: Application to Randomized Hough Transform

Data fusion is a common issue of mobile robotics, computer assisted medical diagnosis or behavioral control of simulated character for instance. However data sources are often noisy, opinion for experts are not known with absolute precision, and motor commands do not act in the same exact manner on the environment. In these cases, classic logic fails to manage efficiently the fusion process. Confronting different knowledge in an uncertain environment can therefore be adequately formalized in the bayesian framework. Besides, bayesian fusion can be expensive in terms of memory usage and processing time. This paper precisely aims at expressing any bayesian fusion process as a product of probability distributions in order to reduce its complexity. We first study both direct and inverse fusion schemes. We show that contrary to direct models, inverse local models need a specific prior in order to allow the fusion to be computed as a product. We therefore propose to add a consistency variable to each local model and we show that these additional variables allow the use of a product of the local distributions in order to compute the global probability distribution over the fused variable. Finally, we take the example of the Randomized Hough Transform. We rewrite it in the bayesian framework, considering that it is a fusion process to extract lines from couples of dots in a picture. As expected, we can find back the expression of the Randomized Hough Transform from the literature with the appropriate assumptions

Expressing Bayesian Fusion as a Product of Distributions: Application in Robotics

More and more fields of applied computer science involve fusion of multiple data sources, such as sensor readings or model decision. However incompleteness of the models prevent the programmer from having an absolute precision over their variables. Therefore bayesian framework can be adequate for such a process as it allows handling of uncertainty.We will be interested in the ability to express any fusion process as a product, for it can lead to reduction of complexity in time and space. We study in this paper various fusion schemes and propose to add a consistency variable to justify the use of a product to compute distribution over the fused variable. We will then show application of this new fusion process to localization of a mobile robot and obstacle avoidance

Purcell factor for point-like dipolar emitter coupling to 2D-plasmonic waveguides

We theoretically investigate the spontaneous emission of a point--like dipolar emitter located near a two--dimensional (2D) plasmonic waveguide of arbitrary form. We invoke an explicite link with the density of modes of the waveguide describing the electromagnetic channels into which the emitter can couple. We obtain a closed form expression for the coupling to propagative plasmon, extending thus the Purcell factor to plasmonic configurations. Radiative and non-radiative contributions to the spontaneous emission are also discussed in details

Mode-selective quantization and multimodal effective models for spherically layered systems

We propose a geometry-specific, mode-selective quantization scheme in coupled field-emitter systems which makes it easy to include material and geometrical properties, intrinsic losses as well as the positions of an arbitrary number of quantum emitters. The method is presented through the example of a spherically symmetric, non-magnetic, arbitrarily layered system. We follow it up by a framework to project the system on simpler, effective cavity QED models. Maintaining a well-defined connection to the original quantization, we derive the emerging effective quantities from the full, mode-selective model in a mathematically consistent way. We discuss the uses and limitations of these effective models

Dark matter directional detection with MIMAC

MiMac is a project of micro-TPC matrix of gaseous (He3, CF4) chambers for direct detection of non-baryonic dark matter. Measurement of both track and ionization energy will allow the electron-recoil discrimination, while access to the directionnality of the tracks will open a unique way to distinguish a geniune WIMP signal from any background. First reconstructed tracks of 5.9 keV electrons are presented as a proof of concept.Comment: 4 pages, proc. of the 44th Rencontres De Moriond: Electroweak Interactions And Unified Theories, 7-14 Mar 2009, La Thuile, Ital

Component-resolved diagnosis of pollen allergy based on skin testing with profilin, polcalcin and lipid transfer protein pan-allergens

BACKGROUND Allergy diagnosis needs to be improved in patients suffering from pollen polysensitization due to the existence of possible confounding factors in this type of patients. OBJECTIVE To evaluate new diagnostic strategies by comparing skin responses to pan-allergens and conventional allergenic extracts with specific IgE (sIgE) to purified allergen molecules. METHODS One thousand three hundred and twenty-nine pollen-allergic patients were diagnosed by a combination of an in vitro method with a panel of 13 purified allergens, including major allergens and pan-allergens, using a high-capacity screening technology (ADVIA-Centaur®) and skin prick test (SPT) to pan-allergens and conventional extracts. RESULTS There was a high concordance (κ index) between in vitro (sIgE to major allergens) and in vivo (SPT to conventional extracts) methods in patients who were not sensitized to pan-allergens, but SPT with conventional extracts failed to diagnose patients with sensitization to pan-allergens. In patients who were simultaneously sensitized to polcalcins and profilins, there was a duplication both in the number of sensitizations to major allergens and in the years of disease evolution. There was a statistical association between sensitization to profilins and/or lipid transfer proteins and food allergy (P<0.0001). CONCLUSION The novel diagnostic strategy has proven to be a valuable tool in daily clinical practice. Introduction of routine SPT to pan-allergens is a simple and feasible way of improving diagnostic efficacy. Patients sensitized to pan-allergens should be tested by an adequate panel of allergenic molecules in order to identify the allergens that are responsible for the allergic disease

GRB 110205A: Anatomy of a long gamma-ray burst

The Swift burst GRB 110205A was a very bright burst visible in the Northern hemisphere. GRB 110205A was intrinsically long and very energetic and it occurred in a low-density interstellar medium environment, leading to delayed afterglow emission and a clear temporal separation of the main emitting components: prompt emission, reverse shock, and forward shock. Our observations show several remarkable features of GRB 110205A : the detection of prompt optical emission strongly correlated with the BAT light curve, with no temporal lag between the two ; the absence of correlation of the X-ray emission compared to the optical and high energy gamma-ray ones during the prompt phase ; and a large optical re-brightening after the end of the prompt phase, that we interpret as a signature of the reverse shock. Beyond the pedagogical value offered by the excellent multi-wavelength coverage of a GRB with temporally separated radiating components, we discuss several questions raised by our observations: the nature of the prompt optical emission and the spectral evolution of the prompt emission at high-energies (from 0.5 keV to 150 keV) ; the origin of an X-ray flare at the beginning of the forward shock; and the modeling of the afterglow, including the reverse shock, in the framework of the classical fireball model.Comment: 21 pages, 5 figure (all in colors), accepted for publication in Ap