scholarly journals Adaptive and Efficient Mixture-Based Representation for Range Data

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3272
Author(s):  
Minghe Cao ◽  
Jianzhong Wang ◽  
Li Ming
Keyword(s):  
State Of The Art ◽  
Gaussian Mixture ◽  
Range Data ◽  
Time Efficiency ◽  
Information Theoretic ◽  
Local Environments ◽  
The Hierarchical Structure ◽  
Data Points ◽  
Computational Resources ◽  
Research Domains

Modern range sensors generate millions of data points per second, making it difficult to utilize all incoming data effectively in real time for devices with limited computational resources. The Gaussian mixture model (GMM) is a convenient and essential tool commonly used in many research domains. In this paper, an environment representation approach based on the hierarchical GMM structure is proposed, which can be utilized to model environments with weighted Gaussians. The hierarchical structure accelerates training by recursively segmenting local environments into smaller clusters. By adopting the information-theoretic distance and shape of probabilistic distributions, weighted Gaussians can be dynamically allocated to local environments in an arbitrary scale, leading to a full adaptivity in the number of Gaussians. Evaluations are carried out in terms of time efficiency, reconstruction, and fidelity using datasets collected from different sensors. The results demonstrate that the proposed approach is superior with respect to time efficiency while maintaining the high fidelity as compared to other state-of-the-art approaches.

scholarly journals Efficient Greedy Learning of Gaussian Mixture Models

2003 ◽  
Vol 15 (2) ◽  
pp. 469-485 ◽  
Author(s):  
J. J. Verbeek ◽  
N. Vlassis ◽  
B. Kröse
Keyword(s):  
Mixture Models ◽  
Density Estimation ◽  
Expectation Maximization ◽  
State Of The Art ◽  
Gaussian Mixture Models ◽  
Gaussian Mixture ◽  
Optimal Number ◽  
Gaussian Mixtures ◽  
Data Points ◽  
Time Linear

This article concerns the greedy learning of gaussian mixtures. In the greedy approach, mixture components are inserted into the mixture one aftertheother.We propose a heuristic for searching for the optimal component to insert. In a randomized manner, a set of candidate new components is generated. For each of these candidates, we find the locally optimal new component and insert it into the existing mixture. The resulting algorithm resolves the sensitivity to initialization of state-of-the-art methods, like expectation maximization, and has running time linear in the number of data points and quadratic in the (final) number of mixture components. Due to its greedy nature, the algorithm can be particularly useful when the optimal number of mixture components is unknown. Experimental results comparing the proposed algorithm to other methods on density estimation and texture segmentation are provided.

Review on Fog Based Spectrum Sensing for Artificial Intelligence

2018 ◽  
pp. 66-70
Author(s):  
A. Rethina Palin ◽  
I. Jeena Jacob
Keyword(s):  
Bandwidth Allocation ◽  
Situational Awareness ◽  
Cluster Head ◽  
Mesh Network ◽  
Network Systems ◽  
Markov Logic ◽  
Wireless Mesh ◽  
Local Environments ◽  
Reactive Routing ◽  
The Hierarchical Structure

Wireless Mesh Network (MWN) could be divided into proactive routing, reactive routing and hybrid routing, which must satisfy the requirements related to scalability, reliability, flexibility, throughput, load balancing, congestion control and efficiency. DMN (Directional Mesh Network) become more adaptive to the local environments and robust to spectrum changes. The existing computing units in the mesh network systems are Fog nodes, the DMN architecture is more economic and efficient since it doesn’t require architecture- level changes from existing systems. The cluster head (CH) manages a group of nodes such that the network has the hierarchical structure for the channel access, routing and bandwidth allocation. The feature extraction and situational awareness is conducted, each Fog node sends the information regarding the current situation to the cluster head in the contextual format. A Markov logic network (MLN) based reasoning engine is utilized for the final routing table updating regarding the system uncertainty and complexity.

Large-sample confidence intervals of information-theoretic measures in linguistics

2020 ◽  
Vol 6 (1) ◽  
pp. 19-54
Author(s):  
Ryan Ka Yau Lai ◽  
Youngah Do
Keyword(s):  
Maximum Likelihood ◽  
Corpus Linguistics ◽  
Delta Method ◽  
Confidence Bounds ◽  
Likelihood Estimator ◽  
Information Theoretic ◽  
Leibler Divergence ◽  
Information Theoretic Measures ◽  
Data Points ◽  
Measure Of Uncertainty

This article explores a method of creating confidence bounds for information-theoretic measures in linguistics, such as entropy, Kullback-Leibler Divergence (KLD), and mutual information. We show that a useful measure of uncertainty can be derived from simple statistical principles, namely the asymptotic distribution of the maximum likelihood estimator (MLE) and the delta method. Three case studies from phonology and corpus linguistics are used to demonstrate how to apply it and examine its robustness against common violations of its assumptions in linguistics, such as insufficient sample size and non-independence of data points.

scholarly journals Weighted approximate Bayesian computation via Sanov’s theorem

2021 ◽  
Author(s):  
Cecilia Viscardi ◽  
Michele Boreale ◽  
Fabio Corradi
Keyword(s):  
Large Deviations ◽  
Posterior Distribution ◽  
Approximate Bayesian Computation ◽  
Bayesian Computation ◽  
Information Theoretic ◽  
Discrete Random Variables ◽  
Positive Weights ◽  
Approximate Bayesian ◽  
Information Theoretic Method ◽  
Computational Resources

AbstractWe consider the problem of sample degeneracy in Approximate Bayesian Computation. It arises when proposed values of the parameters, once given as input to the generative model, rarely lead to simulations resembling the observed data and are hence discarded. Such “poor” parameter proposals do not contribute at all to the representation of the parameter’s posterior distribution. This leads to a very large number of required simulations and/or a waste of computational resources, as well as to distortions in the computed posterior distribution. To mitigate this problem, we propose an algorithm, referred to as the Large Deviations Weighted Approximate Bayesian Computation algorithm, where, via Sanov’s Theorem, strictly positive weights are computed for all proposed parameters, thus avoiding the rejection step altogether. In order to derive a computable asymptotic approximation from Sanov’s result, we adopt the information theoretic “method of types” formulation of the method of Large Deviations, thus restricting our attention to models for i.i.d. discrete random variables. Finally, we experimentally evaluate our method through a proof-of-concept implementation.

scholarly journals Computing Accurate Probabilistic Estimates of One-D Entropy from Equiprobable Random Samples

Entropy ◽  
2021 ◽  
Vol 23 (6) ◽  
pp. 740
Author(s):  
Hoshin V. Gupta ◽  
Mohammad Reza Ehsani ◽  
Tirthankar Roy ◽  
Maria A. Sans-Fuentes ◽  
Uwe Ehret ◽  
...  
Keyword(s):  
Sample Size ◽  
Parameter Tuning ◽  
Gaussian Mixture ◽  
Optimal Number ◽  
Small Sample ◽  
Random Samples ◽  
Data Points ◽  
Probability Mass ◽  
Entropy Estimate ◽  
Log Normal

We develop a simple Quantile Spacing (QS) method for accurate probabilistic estimation of one-dimensional entropy from equiprobable random samples, and compare it with the popular Bin-Counting (BC) and Kernel Density (KD) methods. In contrast to BC, which uses equal-width bins with varying probability mass, the QS method uses estimates of the quantiles that divide the support of the data generating probability density function (pdf) into equal-probability-mass intervals. And, whereas BC and KD each require optimal tuning of a hyper-parameter whose value varies with sample size and shape of the pdf, QS only requires specification of the number of quantiles to be used. Results indicate, for the class of distributions tested, that the optimal number of quantiles is a fixed fraction of the sample size (empirically determined to be ~0.25–0.35), and that this value is relatively insensitive to distributional form or sample size. This provides a clear advantage over BC and KD since hyper-parameter tuning is not required. Further, unlike KD, there is no need to select an appropriate kernel-type, and so QS is applicable to pdfs of arbitrary shape, including those with discontinuous slope and/or magnitude. Bootstrapping is used to approximate the sampling variability distribution of the resulting entropy estimate, and is shown to accurately reflect the true uncertainty. For the four distributional forms studied (Gaussian, Log-Normal, Exponential and Bimodal Gaussian Mixture), expected estimation bias is less than 1% and uncertainty is low even for samples of as few as 100 data points; in contrast, for KD the small sample bias can be as large as -10% and for BC as large as -50%. We speculate that estimating quantile locations, rather than bin-probabilities, results in more efficient use of the information in the data to approximate the underlying shape of an unknown data generating pdf.

scholarly journals Towards Application of One-Class Classification Methods to Medical Data

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Itziar Irigoien ◽  
Basilio Sierra ◽  
Concepción Arenas
Keyword(s):  
State Of The Art ◽  
Gaussian Mixture ◽  
Support Vector ◽  
Support Vector Data Description ◽  
Data Sets ◽  
Biomedical Data ◽  
Vector Data ◽  
Target Class ◽  
Tumor Recognition ◽  
One Class Classification

In the problem of one-class classification (OCC) one of the classes, the target class, has to be distinguished from all other possible objects, considered as nontargets. In many biomedical problems this situation arises, for example, in diagnosis, image based tumor recognition or analysis of electrocardiogram data. In this paper an approach to OCC based on a typicality test is experimentally compared with reference state-of-the-art OCC techniques—Gaussian, mixture of Gaussians, naive Parzen, Parzen, and support vector data description—using biomedical data sets. We evaluate the ability of the procedures using twelve experimental data sets with not necessarily continuous data. As there are few benchmark data sets for one-class classification, all data sets considered in the evaluation have multiple classes. Each class in turn is considered as the target class and the units in the other classes are considered as new units to be classified. The results of the comparison show the good performance of the typicality approach, which is available for high dimensional data; it is worth mentioning that it can be used for any kind of data (continuous, discrete, or nominal), whereas state-of-the-art approaches application is not straightforward when nominal variables are present.

scholarly journals Deep-Learning-Based Road Crack Detection Frameworks for Dashcam-captured Images under Different Illumination Conditions

2021 ◽  
Author(s):  
Da-Ren Chen ◽  
Wei-Min Chiu
Keyword(s):  
Object Detection ◽  
Large Scale ◽  
Crack Detection ◽  
State Of The Art ◽  
Gaussian Mixture Models ◽  
Gaussian Mixture ◽  
Machine Learning Techniques ◽  
Detection Accuracy ◽  
The Road ◽  
Art Object

Abstract Machine learning techniques have been used to increase detection accuracy of cracks in road surfaces. Most studies failed to consider variable illumination conditions on the target of interest (ToI), and only focus on detecting the presence or absence of road cracks. This paper proposes a new road crack detection method, IlumiCrack, which integrates Gaussian mixture models (GMM) and object detection CNN models. This work provides the following contributions: 1) For the first time, a large-scale road crack image dataset with a range of illumination conditions (e.g., day and night) is prepared using a dashcam. 2) Based on GMM, experimental evaluations on 2 to 4 levels of brightness are conducted for optimal classification. 3) the IlumiCrack framework is used to integrate state-of-the-art object detecting methods with CNN to classify the road crack images into eight types with high accuracy. Experimental results show that IlumiCrack outperforms the state-of-the-art R-CNN object detection frameworks.

AN INFORMATION-THEORETIC FILTER METHOD FOR FEATURE WEIGHTING IN NAIVE BAYES

2014 ◽  
Vol 28 (05) ◽  
pp. 1451007 ◽  
Author(s):  
CHANG-HWAN LEE
Keyword(s):  
Data Mining ◽  
Bayesian Learning ◽  
State Of The Art ◽  
Feature Weighting ◽  
New Method ◽  
Filter Method ◽  
Information Theoretic ◽  
Naive Bayesian ◽  
Naïve Bayesian ◽  
Unrealistic Assumption

In spite of its simplicity, naive Bayesian learning has been widely used in many data mining applications. However, the unrealistic assumption that all features are equally important negatively impacts the performance of naive Bayesian learning. In this paper, we propose a new method that uses a Kullback–Leibler measure to calculate the weights of the features analyzed in naive Bayesian learning. Its performance is compared to that of other state-of-the-art methods over a number of datasets.

FAST RRT* 3D-Sliced Planner for Autonomous Exploration Using MAVs

2021 ◽  
pp. 1-12
Author(s):  
Á. Martínez Novo ◽  
Liang Lu ◽  
Pascual Campoy
Keyword(s):  
State Of The Art ◽  
Micro Aerial Vehicles ◽  
Autonomous Exploration ◽  
Signed Distance ◽  
Aerial Vehicles ◽  
3D Environment ◽  
Frontier Points ◽  
Computational Resources ◽  
Next Best View ◽  
Signed Distance Field

This paper addresses the challenge to build an autonomous exploration system using Micro-Aerial Vehicles (MAVs). MAVs are capable of flying autonomously, generating collision-free paths to navigate in unknown areas and also reconstructing the environment at which they are deployed. One of the contributions of our system is the “3D-Sliced Planner” for exploration. The main innovation is the low computational resources needed. This is because Optimal-Frontier-Points (OFP) to explore are computed in 2D slices of the 3D environment using a global Rapidly-exploring Random Tree (RRT) frontier detector. Then, the MAV can plan path routes to these points to explore the surroundings with our new proposed local “FAST RRT* Planner” that uses a tree reconnection algorithm based on cost, and a collision checking algorithm based on Signed Distance Field (SDF). The results show the proposed explorer takes 43.95% less time to compute exploration points and paths when compared with the State-of-the-Art represented by the Receding Horizon Next Best View Planner (RH-NBVP) in Gazebo simulations.

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