Particle filters (PFs) are powerful sampling-based inference/learning algorithms for dynamic Bayesian networks (DBNs). They allow us to treat, in a principled way, any type of probability distribution, nonlinearity and non-stationarity. They have appeared in several fields under such names as “condensation”, “sequential Monte Carlo” and “survival of the fittest”. In this paper, we show how we can exploit the structure of the DBN to increase the efficiency of particle filtering, using a technique known as Rao-Blackwellisation. Essentially, this samples some of the variables, and marginalizes out the rest exactly, using the Kalman filter, HMM filter, junction tree algorithm, or any other finite dimensional optimal filter. We show that Rao-Blackwellised particle filters (RBPFs) lead to more accurate estimates than standard PFs. We demonstrate RBPFs on two problems, namely non-stationary online regression with radial basis function networks and robot localization and map building. We also discuss other potential application areas and provide references to some Þnite dimensional optimal filters.

In this article we propose a new Rao-Blackwellized particle filtering based algorithm for tracking an unknown number of targets. The algorithm is based on formulating probabilistic stochastic process models for target states, data associations, and birth and death processes. The tracking of these stochastic processes is implemented using sequential Monte Carlo sampling or particle filtering, and the e#ciency of the Monte Carlo sampling is improved by using Rao-Blackwellization.

We propose a novel reversible jump Markov chain Monte Carlo (MCMC) simulated annealing algorithm to optimize radial basis function (RBF) networks. This algorithm enables us to maximize the joint posterior distribution of the network parameters and the number of basis functions. It performs a global search in the joint space of the parameters and number of parameters, thereby surmounting the problem of local minima. We also show that by calibrating a Bayesian model, we can obtain the classical AIC, BIC and MDL model selection criteria within a penalized likelihood framework. Finally, we show theoretically and empirically that the algorithm converges to the modes of the full posterior distribution in an efficient way.

We extend recently proposed models for probabilistic latent semantic analysis using a hierarchical Bayesian framework. This approach enables us to carry out automatic regularisation of large, complex probabilistic models for multimedia databases. Moreover, it allows us to introduce a priori knowledge into the modelling process using specic word and image preferences, as well as, semantic hierarchies obtained using WordNet. 1

We present new MCMC algorithms for computing the posterior distributions and expectations of the unknown variables in undirected graphical models with regular structure.

We present new MCMC algorithms for computing the posterior distributions and expectations of the unknown variables in undirected graphical models with regular structure. For demonstration purposes, we focus on Markov Random Fields (MRFs). By partitioning the MRFs into non-overlapping trees, it is possible to compute the posterior distribution of a particular tree exactly by conditioning on the remaining tree. These exact solutions allow us to construct efficient blocked and Rao-Blackwellised MCMC algorithms. We show empirically that tree sampling is considerably more efficient than other partitioned sampling schemes and the naive Gibbs sampler, even in cases where loopy belief propagation fails to converge. We prove that tree sampling exhibits lower variance than the naive Gibbs sampler and other naive partitioning schemes using the theoretical measure of maximal correlation. We also construct new information theory tools for comparing different MCMC schemes and show that, under these, tree sampling is more efficient. 1

We propose new control variates for variance reduction in the Metropolis–Hastings algorithm. We use variates that are functions of both the current state of the Markov chain and the proposed new state. This enable us to specify control variates which have known mean values for general target and proposal distributions. We develop the ideas for both the standard Metropolis–Hastings algorithm and the generalized reversible jump version. We present simulation results for four simulation examples. The variance reduction varies depending on the target distribution and proposal mechanisms used, the typical relative variance reduction is between 15 % and 35%.

This thesis contains the author’s work in and contributions to the field of Monte Carlo sampling for undirected graphical models, a class of statistical model commonly used in machine learning, computer vision, and spatial statistics; the aim is to be able to use the methodology and resultant samples to estimate integrals of functions of the variables in the model. Over the course of the study, three different but related methods were proposed and have appeared as research papers. The thesis consists of an introductory chapter discussing the models considered, the problems involved, and a general outline of Monte Carlo methods. The three subsequent chapters contain versions of the published work. The second chapter, which has appeared in (Hamze and de Freitas 2004), is a presentation of new MCMC algorithms for computing the posterior distributions and expectations of the unknown variables in undirected graphical models with regular structure. For demonstration purposes, we focus on Markov Random Fields (MRFs). By partitioning the MRFs into non-overlapping trees, it