Stochastic Particle Flow for Nonlinear High-Dimensional Filtering Problems

A series of novel filters for probabilistic inference that propose an alternative way of performing Bayesian updates, called particle flow filters, have been attracting recent interest. These filters provide approximate solutions to nonlinear filtering problems. They do so by defining a continuum of densities between the prior probability density and the posterior, i.e. the filtering density. Building on these methods' successes, we propose a novel filter. The new filter aims to address the shortcomings of sequential Monte Carlo methods when applied to important nonlinear high-dimensional filtering problems. The novel filter uses equally weighted samples, each of which is associated with a local solution of the Fokker-Planck equation. This hybrid of Monte Carlo and local parametric approximation gives rise to a global approximation of the filtering density of interest. We show that, when compared with state-of-the-art methods, the Gaussian-mixture implementation of the new filtering technique, which we call Stochastic Particle Flow, has utility in the context of benchmark nonlinear high-dimensional filtering problems. In addition, we extend the original particle flow filters for tackling multi-target multi-sensor tracking problems to enable a comparison with the new filter

Langevin incremental mixture importance sampling

This work proposes a novel method through which local information about the target density can be used to construct an efficient importance sampler. The backbone of the proposed method is the incremental mixture importance sampling (IMIS) algorithm of Raftery and Bao (Biometrics 66(4):1162–1173, 2010), which builds a mixture importance distribution incrementally, by positioning new mixture components where the importance density lacks mass, relative to the target. The key innovation proposed here is to construct the mean vectors and covariance matrices of the mixture components by numerically solving certain differential equations, whose solution depends on the local shape of the target log-density. The new sampler has a number of advantages: (a) it provides an extremely parsimonious parametrization of the mixture importance density, whose configuration effectively depends only on the shape of the target and on a single free parameter representing pseudo-time; (b) it scales well with the dimensionality of the target; (c) it can deal with targets that are not log-concave. The performance of the proposed approach is demonstrated on two synthetic non-Gaussian densities, one being defined on up to eighty dimensions, and on a Bayesian logistic regression model, using the Sonar dataset. The Julia code implementing the importance sampler proposed here can be found at https://github.com/mfasiolo/LIMIS