Results 1 - 10 of 26,989

Sampling-based algorithms for optimal motion planning

by Sertac Karaman, Emilio Frazzoli - International Journal of Robotics Research (IJRR
"... During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to t ..."
Abstract - Cited by 187 (14 self) - Add to MetaCart
to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms

Contour Tracking By Stochastic Propagation of Conditional Density

by Michael Isard, Andrew Blake , 1996
"... . In Proc. European Conf. Computer Vision, 1996, pp. 343--356, Cambridge, UK The problem of tracking curves in dense visual clutter is a challenging one. Trackers based on Kalman filters are of limited use; because they are based on Gaussian densities which are unimodal, they cannot represent s ..."
Abstract - Cited by 661 (23 self) - Add to MetaCart
simultaneous alternative hypotheses. Extensions to the Kalman filter to handle multiple data associations work satisfactorily in the simple case of point targets, but do not extend naturally to continuous curves. A new, stochastic algorithm is proposed here, the Condensation algorithm --- Conditional

Stochastic volatility: likelihood inference and comparison with ARCH models

by Sangjoon Kim, Salomon Brothers, Asia Limited, Neil Shephard - Review of Economic Studies , 1998
"... In this paper, Markov chain Monte Carlo sampling methods are exploited to provide a unified, practical likelihood-based framework for the analysis of stochastic volatility models. A highly effective method is developed that samples all the unobserved volatilities at once using an approximating offse ..."
Abstract - Cited by 592 (40 self) - Add to MetaCart
In this paper, Markov chain Monte Carlo sampling methods are exploited to provide a unified, practical likelihood-based framework for the analysis of stochastic volatility models. A highly effective method is developed that samples all the unobserved volatilities at once using an approximating

Pushing the Envelope: Planning, Propositional Logic, and Stochastic Search

by Henry Kautz, Bart Selman , 1996
"... Planning is a notoriously hard combinatorial search problem. In many interesting domains, current planning algorithms fail to scale up gracefully. By combining a general, stochastic search algorithm and appropriate problem encodings based on propositional logic, we are able to solve hard planning pr ..."
Abstract - Cited by 579 (33 self) - Add to MetaCart
Planning is a notoriously hard combinatorial search problem. In many interesting domains, current planning algorithms fail to scale up gracefully. By combining a general, stochastic search algorithm and appropriate problem encodings based on propositional logic, we are able to solve hard planning

Planning and acting in partially observable stochastic domains

by Leslie Pack Kaelbling, Michael L. Littman, Anthony R. Cassandra - ARTIFICIAL INTELLIGENCE , 1998
"... In this paper, we bring techniques from operations research to bear on the problem of choosing optimal actions in partially observable stochastic domains. We begin by introducing the theory of Markov decision processes (mdps) and partially observable mdps (pomdps). We then outline a novel algorithm ..."
Abstract - Cited by 1095 (38 self) - Add to MetaCart
In this paper, we bring techniques from operations research to bear on the problem of choosing optimal actions in partially observable stochastic domains. We begin by introducing the theory of Markov decision processes (mdps) and partially observable mdps (pomdps). We then outline a novel algorithm

Stochastic relaxation, Gibbs distributions and the Bayesian restoration of images.

by Stuart Geman , Donald Geman - IEEE Trans. Pattern Anal. Mach. Intell. , 1984
"... Abstract-We make an analogy between images and statistical mechanics systems. Pixel gray levels and the presence and orientation of edges are viewed as states of atoms or molecules in a lattice-like physical system. The assignment of an energy function in the physical system determines its Gibbs di ..."
Abstract - Cited by 5126 (1 self) - Add to MetaCart
is a highly parallel "relaxation" algorithm for MAP estimation. We establish convergence properties of the algorithm and we experiment with some simple pictures, for which good restorations are obtained at low signal-to-noise ratios.

Efficient Variants of the ICP Algorithm

by Szymon Rusinkiewicz, Marc Levoy - INTERNATIONAL CONFERENCE ON 3-D DIGITAL IMAGING AND MODELING , 2001
"... The ICP (Iterative Closest Point) algorithm is widely used for geometric alignment of three-dimensional models when an initial estimate of the relative pose is known. Many variants of ICP have been proposed, affecting all phases of the algorithm from the selection and matching of points to the minim ..."
Abstract - Cited by 718 (5 self) - Add to MetaCart
The ICP (Iterative Closest Point) algorithm is widely used for geometric alignment of three-dimensional models when an initial estimate of the relative pose is known. Many variants of ICP have been proposed, affecting all phases of the algorithm from the selection and matching of points

Randomized Gossip Algorithms

by Stephen Boyd, Arpita Ghosh, Balaji Prabhakar, Devavrat Shah - IEEE TRANSACTIONS ON INFORMATION THEORY , 2006
"... Motivated by applications to sensor, peer-to-peer, and ad hoc networks, we study distributed algorithms, also known as gossip algorithms, for exchanging information and for computing in an arbitrarily connected network of nodes. The topology of such networks changes continuously as new nodes join a ..."
Abstract - Cited by 532 (5 self) - Add to MetaCart
stochastic matrix characterizing the algorithm. Designing the fastest gossip algorithm corresponds to minimizing this eigenvalue, which is a semidefinite program (SDP). In general, SDPs cannot be solved in a distributed fashion; however, exploiting problem structure, we propose a distributed subgradient

Genetic Algorithms for Multiobjective Optimization: Formulation, Discussion and Generalization

by Carlos M. Fonseca, Peter J. Fleming , 1993
"... The paper describes a rank-based fitness assignment method for Multiple Objective Genetic Algorithms (MOGAs). Conventional niche formation methods are extended to this class of multimodal problems and theory for setting the niche size is presented. The fitness assignment method is then modified to a ..."
Abstract - Cited by 633 (15 self) - Add to MetaCart
The paper describes a rank-based fitness assignment method for Multiple Objective Genetic Algorithms (MOGAs). Conventional niche formation methods are extended to this class of multimodal problems and theory for setting the niche size is presented. The fitness assignment method is then modified

Dynamic programming algorithm optimization for spoken word recognition

by Hiroaki Sakoe, Seibi Chiba - IEEE TRANSACTIONS ON ACOUSTICS, SPEECH, AND SIGNAL PROCESSING , 1978
"... This paper reports on an optimum dynamic programming (DP) based time-normalization algorithm for spoken word recognition. First, a general principle of time-normalization is given using timewarping function. Then, two time-normalized distance definitions, ded symmetric and asymmetric forms, are der ..."
Abstract - Cited by 788 (3 self) - Add to MetaCart
This paper reports on an optimum dynamic programming (DP) based time-normalization algorithm for spoken word recognition. First, a general principle of time-normalization is given using timewarping function. Then, two time-normalized distance definitions, ded symmetric and asymmetric forms
Results 1 - 10 of 26,989