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242
A tutorial on particle filters for online nonlinear/nonGaussian Bayesian tracking
 IEEE TRANSACTIONS ON SIGNAL PROCESSING
, 2002
"... Increasingly, for many application areas, it is becoming important to include elements of nonlinearity and nonGaussianity in order to model accurately the underlying dynamics of a physical system. Moreover, it is typically crucial to process data online as it arrives, both from the point of view o ..."
Abstract

Cited by 1137 (2 self)
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Increasingly, for many application areas, it is becoming important to include elements of nonlinearity and nonGaussianity in order to model accurately the underlying dynamics of a physical system. Moreover, it is typically crucial to process data online as it arrives, both from the point of view of storage costs as well as for rapid adaptation to changing signal characteristics. In this paper, we review both optimal and suboptimal Bayesian algorithms for nonlinear/nonGaussian tracking problems, with a focus on particle filters. Particle filters are sequential Monte Carlo methods based on point mass (or “particle”) representations of probability densities, which can be applied to any statespace model and which generalize the traditional Kalman filtering methods. Several variants of the particle filter such as SIR, ASIR, and RPF are introduced within a generic framework of the sequential importance sampling (SIS) algorithm. These are discussed and compared with the standard EKF through an illustrative example.
Dynamic Bayesian Networks: Representation, Inference and Learning
, 2002
"... Modelling sequential data is important in many areas of science and engineering. Hidden Markov models (HMMs) and Kalman filter models (KFMs) are popular for this because they are simple and flexible. For example, HMMs have been used for speech recognition and biosequence analysis, and KFMs have bee ..."
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Cited by 564 (3 self)
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Modelling sequential data is important in many areas of science and engineering. Hidden Markov models (HMMs) and Kalman filter models (KFMs) are popular for this because they are simple and flexible. For example, HMMs have been used for speech recognition and biosequence analysis, and KFMs have been used for problems ranging from tracking planes and missiles to predicting the economy. However, HMMs
and KFMs are limited in their “expressive power”. Dynamic Bayesian Networks (DBNs) generalize HMMs by allowing the state space to be represented in factored form, instead of as a single discrete random variable. DBNs generalize KFMs by allowing arbitrary probability distributions, not just (unimodal) linearGaussian. In this thesis, I will discuss how to represent many different kinds of models as DBNs, how to perform exact and approximate inference in DBNs, and how to learn DBN models from sequential data.
In particular, the main novel technical contributions of this thesis are as follows: a way of representing
Hierarchical HMMs as DBNs, which enables inference to be done in O(T) time instead of O(T 3), where T is the length of the sequence; an exact smoothing algorithm that takes O(log T) space instead of O(T); a simple way of using the junction tree algorithm for online inference in DBNs; new complexity bounds on exact online inference in DBNs; a new deterministic approximate inference algorithm called factored frontier; an analysis of the relationship between the BK algorithm and loopy belief propagation; a way of
applying RaoBlackwellised particle filtering to DBNs in general, and the SLAM (simultaneous localization
and mapping) problem in particular; a way of extending the structural EM algorithm to DBNs; and a variety of different applications of DBNs. However, perhaps the main value of the thesis is its catholic presentation of the field of sequential data modelling.
Sequential Monte Carlo Methods for Dynamic Systems
 Journal of the American Statistical Association
, 1998
"... A general framework for using Monte Carlo methods in dynamic systems is provided and its wide applications indicated. Under this framework, several currently available techniques are studied and generalized to accommodate more complex features. All of these methods are partial combinations of three ..."
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Cited by 453 (8 self)
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A general framework for using Monte Carlo methods in dynamic systems is provided and its wide applications indicated. Under this framework, several currently available techniques are studied and generalized to accommodate more complex features. All of these methods are partial combinations of three ingredients: importance sampling and resampling, rejection sampling, and Markov chain iterations. We deliver a guideline on how they should be used and under what circumstance each method is most suitable. Through the analysis of differences and connections, we consolidate these methods into a generic algorithm by combining desirable features. In addition, we propose a general use of RaoBlackwellization to improve performances. Examples from econometrics and engineering are presented to demonstrate the importance of RaoBlackwellization and to compare different Monte Carlo procedures. Keywords: Blind deconvolution; Bootstrap filter; Gibbs sampling; Hidden Markov model; Kalman filter; Markov...
Bayesian Methods for Hidden Markov Models  Recursive Computing in the 21st Century
 JOURNAL OF THE AMERICAN STATISTICAL ASSOCIATION
, 2002
"... Markov chain Monte Carlo (MCMC) sampling strategies can be used to simulate hidden Markov model (HMM) parameters from their posterior distribution given observed data. Some MCMC methods (for computing likelihood, conditional probabilities of hidden states, and the most likely sequence of states) use ..."
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Cited by 86 (8 self)
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Markov chain Monte Carlo (MCMC) sampling strategies can be used to simulate hidden Markov model (HMM) parameters from their posterior distribution given observed data. Some MCMC methods (for computing likelihood, conditional probabilities of hidden states, and the most likely sequence of states) used in practice can be improved by incorporating established recursive algorithms. The most important is a set of forwardbackward recursions calculating conditional distributions of the hidden states given observed data and model parameters. We show how to use the recursive algorithms in an MCMC context and demonstrate mathematical and empirical results showing a Gibbs sampler using the forwardbackward recursions mixes more rapidly than another sampler often used for HMM's. We introduce an augmented variables technique for obtaining unique state labels in HMM's and finite mixture models. We show how recursive computing allows statistically efficient use of MCMC output when estimating the hidden states. We directly calculate the posterior distribution of the hidden chain's state space size by MCMC, circumventing asymptotic arguments underlying the Bayesian information criterion, which is shown to be inappropriate for a frequently analyzed data set in the HMM literature. The use of loglikelihood for assessing MCMC convergence is illustrated, and posterior predictive checks are used to investigate application specific questions of model adequacy.
Monte Carlo maximum likelihood estimation for nonGaussian state space models
, 1997
"... State space models are considered for observations which have nonGaussian distributions. We obtain accurate approximations to the loglikelihood for such models by Monte Carlo simulation. Devices are introduced which improve the accuracy of the approximations and which increase computational efficie ..."
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Cited by 67 (16 self)
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State space models are considered for observations which have nonGaussian distributions. We obtain accurate approximations to the loglikelihood for such models by Monte Carlo simulation. Devices are introduced which improve the accuracy of the approximations and which increase computational efficiency. The loglikelihood function is maximised numerically to obtain estimates of the unknown hyperparameters. Standard errors of the estimates due to simulation are calculated. Details are given for the important special cases where the observations come from an exponential family distribution and where the observation equation is linear but the observation errors are nonGaussian. The techniques are illustrated with a series for which the observations have a Poisson distribution and a series for which the observation errors have a tdistribution.
Predictive Model Selection
 Journal of the Royal Statistical Society, Ser. B
, 1995
"... this article we propose three criteria that can be used to address model selection. These emphasize observables rather than parameters and are based on a certain Bayesian predictive density. They have a unifying basis that is simple and interpretable,are free of asymptotic de#nitions,and allow the i ..."
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Cited by 61 (4 self)
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this article we propose three criteria that can be used to address model selection. These emphasize observables rather than parameters and are based on a certain Bayesian predictive density. They have a unifying basis that is simple and interpretable,are free of asymptotic de#nitions,and allow the incorporation of prior information. Moreover,two of these criteria are readily calibrated.
Switching Kalman Filters
, 1998
"... We show how many different variants of Switching Kalman Filter models can be represented in a unified way, leading to a single, generalpurpose inference algorithm. We then show how to find approximate Maximum Likelihood Estimates of the parameters using the EM algorithm, extending previous results ..."
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Cited by 58 (3 self)
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We show how many different variants of Switching Kalman Filter models can be represented in a unified way, leading to a single, generalpurpose inference algorithm. We then show how to find approximate Maximum Likelihood Estimates of the parameters using the EM algorithm, extending previous results on learning using EM in the nonswitching case [DRO93, GH96a] and in the switching, but fully observed, case [Ham90]. 1 Introduction Dynamical systems are often assumed to be linear and subject to Gaussian noise. This model, called the Linear Dynamical System (LDS) model, can be defined as x t = A t x t\Gamma1 + v t y t = C t x t +w t where x t is the hidden state variable at time t, y t is the observation at time t, and v t ¸ N(0; Q t ) and w t ¸ N(0; R t ) are independent Gaussian noise sources. Typically the parameters of the model \Theta = f(A t ; C t ; Q t ; R t )g are assumed to be timeinvariant, so that they can be estimated from data using e.g., EM [GH96a]. One of the main adva...
Bayesian Model Assessment In Factor Analysis
, 2004
"... Factor analysis has been one of the most powerful and flexible tools for assessment of multivariate dependence and codependence. Loosely speaking, it could be argued that the origin of its success rests in its very exploratory nature, where various kinds of datarelationships amongst the variable ..."
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Cited by 58 (8 self)
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Factor analysis has been one of the most powerful and flexible tools for assessment of multivariate dependence and codependence. Loosely speaking, it could be argued that the origin of its success rests in its very exploratory nature, where various kinds of datarelationships amongst the variables at study can be iteratively verified and/or refuted. Bayesian inference in factor analytic models has received renewed attention in recent years, partly due to computational advances but also partly to applied focuses generating factor structures as exemplified by recent work in financial time series modeling. The focus of our current work is on exploring questions of uncertainty about the number of latent factors in a multivariate factor model, combined with methodological and computational issues of model specification and model fitting. We explore reversible jump MCMC methods that build on sets of parallel Gibbs samplingbased analyses to generate suitable empirical proposal distributions and that address the challenging problem of finding e#cient proposals in highdimensional models. Alternative MCMC methods based on bridge sampling are discussed, and these fully Bayesian MCMC approaches are compared with a collection of popular model selection methods in empirical studies.