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470
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 ..."
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Cited by 1331 (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.
CONDENSATION  conditional density propagation for visual tracking
 International Journal of Computer Vision
, 1998
"... The problem of tracking curves in dense visual clutter is challenging. Kalman filtering is inadequate because it is based on Gaussian densities which, being unimodal, cannot represent simultaneous alternative hypotheses. The Condensation algorithm uses "factored sampling", previously appli ..."
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Cited by 1227 (12 self)
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The problem of tracking curves in dense visual clutter is challenging. Kalman filtering is inadequate because it is based on Gaussian densities which, being unimodal, cannot represent simultaneous alternative hypotheses. The Condensation algorithm uses "factored sampling", previously applied to the interpretation of static images, in which the probability distribution of possible interpretations is represented by a randomly generated set. Condensation uses learned dynamical models, together with visual observations, to propagate the random set over time. The result is highly robust tracking of agile motion. Notwithstanding the use of stochastic methods, the algorithm runs in near realtime. Contents 1 Tracking curves in clutter 2 2 Discretetime propagation of state density 3 3 Factored sampling 6 4 The Condensation algorithm 8 5 Stochastic dynamical models for curve motion 10 6 Observation model 13 7 Applying the Condensation algorithm to videostreams 17 8 Conclusions 26 A Nonline...
Markov chains for exploring posterior distributions
 Annals of Statistics
, 1994
"... Your use of the JSTOR archive indicates your acceptance of JSTOR's Terms and Conditions of Use, available at ..."
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Cited by 849 (6 self)
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Your use of the JSTOR archive indicates your acceptance of JSTOR's Terms and Conditions of Use, available at
On Sequential Monte Carlo Sampling Methods for Bayesian Filtering
 STATISTICS AND COMPUTING
, 2000
"... In this article, we present an overview of methods for sequential simulation from posterior distributions. These methods are of particular interest in Bayesian filtering for discrete time dynamic models that are typically nonlinear and nonGaussian. A general importance sampling framework is develop ..."
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Cited by 737 (66 self)
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In this article, we present an overview of methods for sequential simulation from posterior distributions. These methods are of particular interest in Bayesian filtering for discrete time dynamic models that are typically nonlinear and nonGaussian. A general importance sampling framework is developed that unifies many of the methods which have been proposed over the last few decades in several different scientific disciplines. Novel extensions to the existing methods are also proposed. We show in particular how to incorporate local linearisation methods similar to those which have previously been employed in the deterministic filtering literature; these lead to very effective importance distributions. Furthermore we describe a method which uses RaoBlackwellisation in order to take advantage of the analytic structure present in some important classes of statespace models. In a final section we develop algorithms for prediction, smoothing and evaluation of the likelihood in dynamic models.
Filtering via simulation: auxiliary particle filter
 Journal of the American Statistical Association
, 1999
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Bayesian Analysis of Stochastic Volatility Models
, 1994
"... this article is to develop new methods for inference and prediction in a simple class of stochastic volatility models in which logarithm of conditional volatility follows an autoregressive (AR) times series model. Unlike the autoregressive conditional heteroscedasticity (ARCH) and gener alized ARCH ..."
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Cited by 445 (21 self)
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this article is to develop new methods for inference and prediction in a simple class of stochastic volatility models in which logarithm of conditional volatility follows an autoregressive (AR) times series model. Unlike the autoregressive conditional heteroscedasticity (ARCH) and gener alized ARCH (GARCH) models [see Bollerslev, Chou, and Kroner (1992) for a survey of ARCH modeling], both the mean and logvolatility equations have separate error terms. The ease of evaluating the ARCH likelihood function and the ability of the ARCH specification to accommodate the timevarying volatility found in many economic time series has fostered an explosion in the use of ARCH models. On the other hand, the likelihood function for stochastic volatility models is difficult to evaluate, and hence these models have had limited empirical application
Stochastic volatility: likelihood inference and comparison with ARCH models
 Review of Economic Studies
, 1998
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Markov chain monte carlo convergence diagnostics
 JASA
, 1996
"... A critical issue for users of Markov Chain Monte Carlo (MCMC) methods in applications is how to determine when it is safe to stop sampling and use the samples to estimate characteristics of the distribution of interest. Research into methods of computing theoretical convergence bounds holds promise ..."
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Cited by 274 (6 self)
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A critical issue for users of Markov Chain Monte Carlo (MCMC) methods in applications is how to determine when it is safe to stop sampling and use the samples to estimate characteristics of the distribution of interest. Research into methods of computing theoretical convergence bounds holds promise for the future but currently has yielded relatively little that is of practical use in applied work. Consequently, most MCMC users address the convergence problem by applying diagnostic tools to the output produced by running their samplers. After giving a brief overview of the area, we provide an expository review of thirteen convergence diagnostics, describing the theoretical basis and practical implementation of each. We then compare their performance in two simple models and conclude that all the methods can fail to detect the sorts of convergence failure they were designed to identify. We thus recommend a combination of strategies aimed at evaluating and accelerating MCMC sampler convergence, including applying diagnostic procedures to a small number of parallel chains, monitoring autocorrelations and crosscorrelations, and modifying parameterizations or sampling algorithms appropriately. We emphasize, however, that it is not possible to say with certainty that a finite sample from an MCMC algorithm is representative of an underlying stationary distribution. 1
Icondensation: Unifying lowlevel and highlevel tracking in a stochastic framework
, 1998
"... . Tracking research has diverged into two camps; lowlevel approaches which are typically fast and robust but provide little finescale information, and highlevel approaches which track complex deformations in highdimensional spaces but must trade off speed against robustness. Realtime highlevel ..."
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Cited by 272 (13 self)
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. Tracking research has diverged into two camps; lowlevel approaches which are typically fast and robust but provide little finescale information, and highlevel approaches which track complex deformations in highdimensional spaces but must trade off speed against robustness. Realtime highlevel systems perform poorly in clutter and initialisation for most highlevel systems is either performed manually or by a separate module. This paper presents a new technique to combine low and highlevel information in a consistent probabilistic framework, using the statistical technique of importance sampling combined with the Condensation algorithm. The general framework, which we term Icondensation, is described, and a hand tracker is demonstrated which combines colour blobtracking with a contour model. The resulting tracker is robust to rapid motion, heavy clutter and handcoloured distractors, and reinitialises automatically. The system runs comfortably in real time on an...
Using simulation methods for Bayesian econometric models: Inference, development and communication
 Econometric Review
, 1999
"... This paper surveys the fundamental principles of subjective Bayesian inference in econometrics and the implementation of those principles using posterior simulation methods. The emphasis is on the combination of models and the development of predictive distributions. Moving beyond conditioning on a ..."
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Cited by 257 (15 self)
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This paper surveys the fundamental principles of subjective Bayesian inference in econometrics and the implementation of those principles using posterior simulation methods. The emphasis is on the combination of models and the development of predictive distributions. Moving beyond conditioning on a fixed number of completely specified models, the paper introduces subjective Bayesian tools for formal comparison of these models with as yet incompletely specified models. The paper then shows how posterior simulators can facilitate communication between investigators (for example, econometricians) on the one hand and remote clients (for example, decision makers) on the other, enabling clients to vary the prior distributions and functions of interest employed by investigators. A theme of the paper is the practicality of subjective Bayesian methods. To this end, the paper describes publicly available software for Bayesian inference, model development, and communication and provides illustrations using two simple econometric models. *This paper was originally prepared for the Australasian meetings of the Econometric Society in Melbourne, Australia,