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Stochastic relaxation, Gibbs distributions and the Bayesian restoration of images.
 IEEE Trans. Pattern Anal. Mach. Intell.
, 1984
"... AbstractWe 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 latticelike physical system. The assignment of an energy function in the physical system determines its Gibbs di ..."
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Cited by 5126 (1 self)
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AbstractWe 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 latticelike physical system. The assignment of an energy function in the physical system determines its Gibbs distribution. Because of the Gibbs distribution, Markov random field (MRF) equivalence, this assignment also determines an MRF image model. The energy function is a more convenient and natural mechanism for embodying picture attributes than are the local characteristics of the MRF. For a range of degradation mechanisms, including blurring, nonlinear deformations, and multiplicative or additive noise, the posterior distribution is an MRF with a structure akin to the image model. By the analogy, the posterior distribution defines another (imaginary) physical system. Gradual temperature reduction in the physical system isolates low energy states ("annealing"), or what is the same thing, the most probable states under the Gibbs distribution. The analogous operation under the posterior distribution yields the maximum a posteriori (MAP) estimate of the image given the degraded observations. The result 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 signaltonoise ratios.
Reversible jump Markov chain Monte Carlo computation and Bayesian model determination
 Biometrika
, 1995
"... Markov chain Monte Carlo methods for Bayesian computation have until recently been restricted to problems where the joint distribution of all variables has a density with respect to some xed standard underlying measure. They have therefore not been available for application to Bayesian model determi ..."
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Cited by 1345 (23 self)
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Markov chain Monte Carlo methods for Bayesian computation have until recently been restricted to problems where the joint distribution of all variables has a density with respect to some xed standard underlying measure. They have therefore not been available for application to Bayesian model determination, where the dimensionality of the parameter vector is typically not xed. This article proposes a new framework for the construction of reversible Markov chain samplers that jump between parameter subspaces of di ering dimensionality, which is exible and entirely constructive. It should therefore have wide applicability in model determination problems. The methodology is illustrated with applications to multiple changepoint analysis in one and two dimensions, and toaBayesian comparison of binomial experiments.
NonUniform Random Variate Generation
, 1986
"... This is a survey of the main methods in nonuniform random variate generation, and highlights recent research on the subject. Classical paradigms such as inversion, rejection, guide tables, and transformations are reviewed. We provide information on the expected time complexity of various algorith ..."
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Cited by 1021 (26 self)
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This is a survey of the main methods in nonuniform random variate generation, and highlights recent research on the subject. Classical paradigms such as inversion, rejection, guide tables, and transformations are reviewed. We provide information on the expected time complexity of various algorithms, before addressing modern topics such as indirectly specified distributions, random processes, and Markov chain methods.
Bayesian density estimation and inference using mixtures.
 J. Amer. Statist. Assoc.
, 1995
"... JSTOR is a notforprofit service that helps scholars, researchers, and students discover, use, and build upon a wide range of content in a trusted digital archive. We use information technology and tools to increase productivity and facilitate new forms of scholarship. For more information about J ..."
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Cited by 653 (18 self)
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JSTOR is a notforprofit service that helps scholars, researchers, and students discover, use, and build upon a wide range of content in a trusted digital archive. We use information technology and tools to increase productivity and facilitate new forms of scholarship. For more information about JSTOR, please contact support@jstor.org. We describe and illustrate Bayesian inference in models for density estimation using mixtures of Dirichlet processes. These models provide natural settings for density estimation and are exemplified by special cases where data are modeled as a sample from mixtures of normal distributions. Efficient simulation methods are used to approximate various prior, posterior, and predictive distributions. This allows for direct inference on a variety of practical issues, including problems of local versus global smoothing, uncertainty about density estimates, assessment of modality, and the inference on the numbers of components. Also, convergence results are established for a general class of normal mixture models. American Statistical Association
On Bayesian analysis of mixtures with an unknown number of components
 INSTITUTE OF INTERNATIONAL ECONOMICS PROJECT ON INTERNATIONAL COMPETITION POLICY,&QUOT; COM/DAFFE/CLP/TD(94)42
, 1997
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FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem
 In Proceedings of the AAAI National Conference on Artificial Intelligence
, 2002
"... The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filterbase ..."
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Cited by 599 (10 self)
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The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filterbased algorithms, for example, require time quadratic in the number of landmarks to incorporate each sensor observation. This paper presents FastSLAM, an algorithm that recursively estimates the full posterior distribution over robot pose and landmark locations, yet scales logarithmically with the number of landmarks in the map. This algorithm is based on a factorization of the posterior into a product of conditional landmark distributions and a distribution over robot paths. The algorithm has been run successfully on as many as 50,000 landmarks, environments far beyond the reach of previous approaches. Experimental results demonstrate the advantages and limitations of the FastSLAM algorithm on both simulated and realworld data.
A learning algorithm for Boltzmann machines
 Cognitive Science
, 1985
"... The computotionol power of massively parallel networks of simple processing elements resides in the communication bandwidth provided by the hardware connections between elements. These connections con allow a significant fraction of the knowledge of the system to be applied to an instance of a probl ..."
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Cited by 584 (13 self)
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The computotionol power of massively parallel networks of simple processing elements resides in the communication bandwidth provided by the hardware connections between elements. These connections con allow a significant fraction of the knowledge of the system to be applied to an instance of a problem in o very short time. One kind of computation for which massively porollel networks appear to be well suited is large constraint satisfaction searches, but to use the connections efficiently two conditions must be met: First, a search technique that is suitable for parallel networks must be found. Second, there must be some way of choosing internal representations which allow the preexisting hardware connections to be used efficiently for encoding the constraints in the domain being searched. We describe a generol parallel search method, based on statistical mechanics, and we show how it leads to a general learning rule for modifying the connection strengths so as to incorporate knowledge obout o task domain in on efficient way. We describe some simple examples in which the learning algorithm creates internal representations thot ore demonstrobly the most efficient way of using the preexisting connectivity structure. 1.
Predictive regressions
 Journal of Financial Economics
, 1999
"... When a rate of return is regressed on a lagged stochastic regressor, such as a dividend yield, the regression disturbance is correlated with the regressor's innovation. The OLS estimator's "nitesample properties, derived here, can depart substantially from the standard regression set ..."
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Cited by 466 (20 self)
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When a rate of return is regressed on a lagged stochastic regressor, such as a dividend yield, the regression disturbance is correlated with the regressor's innovation. The OLS estimator's "nitesample properties, derived here, can depart substantially from the standard regression setting. Bayesian posterior distributions for the regression parameters are obtained under speci"cations that di!er with respect to (i) prior beliefs about the autocorrelation of the regressor and (ii) whether the initial observation of the regressor is speci"ed as "xed or stochastic. The posteriors di!er across such speci"cations, and asset allocations in the presence of estimation risk exhibit sensitivity to those
WinBUGS  a Bayesian modelling framework: concepts, structure, and extensibility
 STATISTICS AND COMPUTING
, 2000
"... WinBUGS is a fully extensible modular framework for constructing and analysing Bayesian full probability models. Models may be specified either textually via the BUGS language or pictorially using a graphical interface called DoodleBUGS. WinBUGS processes the model specification and constructs an ob ..."
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Cited by 430 (6 self)
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WinBUGS is a fully extensible modular framework for constructing and analysing Bayesian full probability models. Models may be specified either textually via the BUGS language or pictorially using a graphical interface called DoodleBUGS. WinBUGS processes the model specification and constructs an objectoriented representation of the model. The software offers a userinterface, based on dialogue boxes and menu commands, through which the model may then be analysed using Markov chain Monte Carlo techniques. In this paper we discuss how and why various modern computing concepts, such as objectorientation and runtime linking, feature in the software’s design. We also discuss how the framework may be extended. It is possible to write specific applications that form an apparently seamless interface with WinBUGS for users with specialized requirements. It is also possible to interface with WinBUGS at a lower level by incorporating new object types that may be used by WinBUGS without knowledge of the modules in which they are implemented. Neither of these types of extension require access to, or even recompilation of, the WinBUGS sourcecode.
Model Selection and Model Averaging in Phylogenetics: Advantages of Akaike Information Criterion and Bayesian Approaches Over Likelihood Ratio Tests
, 2004
"... Model selection is a topic of special relevance in molecular phylogenetics that affects many, if not all, stages of phylogenetic inference. Here we discuss some fundamental concepts and techniques of model selection in the context of phylogenetics. We start by reviewing different aspects of the sel ..."
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Cited by 407 (8 self)
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Model selection is a topic of special relevance in molecular phylogenetics that affects many, if not all, stages of phylogenetic inference. Here we discuss some fundamental concepts and techniques of model selection in the context of phylogenetics. We start by reviewing different aspects of the selection of substitution models in phylogenetics from a theoretical, philosophical and practical point of view, and summarize this comparison in table format. We argue that the most commonly implemented model selection approach, the hierarchical likelihood ratio test, is not the optimal strategy for model selection in phylogenetics, and that approaches like the Akaike Information Criterion (AIC) and Bayesian methods offer important advantages. In particular, the latter two methods are able to simultaneously compare multiple nested or nonnested models, assess model selection uncertainty, and allow for the estimation of phylogenies and model parameters using all available models (modelaveraged inference or multimodel inference). We also describe how the relative importance of the different parameters included in substitution models can be depicted. To illustrate some of these points, we have applied AICbased model averaging to 37 mitochondrial DNA sequences from the subgenus Ohomopterus (genus Carabus) ground beetles described by Sota and Vogler (2001).