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121
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 563 (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.
The Infinite Hidden Markov Model
 Machine Learning
, 2002
"... We show that it is possible to extend hidden Markov models to have a countably infinite number of hidden states. By using the theory of Dirichlet processes we can implicitly integrate out the infinitely many transition parameters, leaving only three hyperparameters which can be learned from data. Th ..."
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Cited by 488 (33 self)
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We show that it is possible to extend hidden Markov models to have a countably infinite number of hidden states. By using the theory of Dirichlet processes we can implicitly integrate out the infinitely many transition parameters, leaving only three hyperparameters which can be learned from data. These three hyperparameters define a hierarchical Dirichlet process capable of capturing a rich set of transition dynamics. The three hyperparameters control the time scale of the dynamics, the sparsity of the underlying statetransition matrix, and the expected number of distinct hidden states in a finite sequence. In this framework it is also natural to allow the alphabet of emitted symbols to be infiniteconsider, for example, symbols being possible words appearing in English text.
Learning lowlevel vision
 International Journal of Computer Vision
, 2000
"... We show a learningbased method for lowlevel vision problems. We setup a Markov network of patches of the image and the underlying scene. A factorization approximation allows us to easily learn the parameters of the Markov network from synthetic examples of image/scene pairs, and to e ciently prop ..."
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Cited by 466 (25 self)
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We show a learningbased method for lowlevel vision problems. We setup a Markov network of patches of the image and the underlying scene. A factorization approximation allows us to easily learn the parameters of the Markov network from synthetic examples of image/scene pairs, and to e ciently propagate image information. Monte Carlo simulations justify this approximation. We apply this to the \superresolution " problem (estimating high frequency details from a lowresolution image), showing good results. For the motion estimation problem, we show resolution of the aperture problem and llingin arising from application of the same probabilistic machinery.
Coupled hidden Markov models for complex action recognition
, 1996
"... We present algorithms for coupling and training hidden Markov models (HMMs) to model interacting processes, and demonstrate their superiority to conventional HMMs in a vision task classifying twohanded actions. HMMs are perhaps the most successful framework in perceptual computing for modeling and ..."
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Cited by 367 (17 self)
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We present algorithms for coupling and training hidden Markov models (HMMs) to model interacting processes, and demonstrate their superiority to conventional HMMs in a vision task classifying twohanded actions. HMMs are perhaps the most successful framework in perceptual computing for modeling and classifying dynamic behaviors, popular because they offer dynamic time warping, a training algorithm, and a clear Bayesian semantics. However, the Markovian framework makes strong restrictive assumptions about the system generating the signalthat it is a single process having a small number of states and an extremely limited state memory. The singleprocess model is often inappropriate for vision (and speech) applications, resulting in low ceilings on model performance. Coupled HMMs provide an efficient way to resolve many of these problems, and offer superior training speeds, model likelihoods, and robustness to initial conditions. 1. Introduction Computer vision is turning to problems...
A Bayesian computer vision system for modeling human interactions
 IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
, 2000
"... We describe a realtime computer vision and machine learning system for modeling and recognizing human behaviors in a visual surveillance task [1]. The system is particularly concerned with detecting when interactions between people occur and classifying the type of interaction. Examples of interes ..."
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Cited by 353 (6 self)
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We describe a realtime computer vision and machine learning system for modeling and recognizing human behaviors in a visual surveillance task [1]. The system is particularly concerned with detecting when interactions between people occur and classifying the type of interaction. Examples of interesting interaction behaviors include following another person, altering one's path to meet another, and so forth. Our system combines topdown with bottomup information in a closed feedback loop, with both components employing a statistical Bayesian approach [2]. We propose and compare two different statebased learning architectures, namely, HMMs and CHMMs for modeling behaviors and interactions. The CHMM model is shown to work much more efficiently and accurately. Finally, to deal with the problem of limited training data, a synthetic ªAlifestyleº training system is used to develop flexible prior models for recognizing human interactions. We demonstrate the ability to use these a priori models to accurately classify real human behaviors and interactions with no additional tuning or training.
Waveletbased statistical signal processing using hidden Markov models
 IEEE Transactions on Signal Processing
, 1998
"... Abstract — Waveletbased statistical signal processing techniques such as denoising and detection typically model the wavelet coefficients as independent or jointly Gaussian. These models are unrealistic for many realworld signals. In this paper, we develop a new framework for statistical signal pr ..."
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Cited by 323 (52 self)
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Abstract — Waveletbased statistical signal processing techniques such as denoising and detection typically model the wavelet coefficients as independent or jointly Gaussian. These models are unrealistic for many realworld signals. In this paper, we develop a new framework for statistical signal processing based on waveletdomain hidden Markov models (HMM’s) that concisely models the statistical dependencies and nonGaussian statistics encountered in realworld signals. Waveletdomain HMM’s are designed with the intrinsic properties of the wavelet transform in mind and provide powerful, yet tractable, probabilistic signal models. Efficient expectation maximization algorithms are developed for fitting the HMM’s to observational signal data. The new framework is suitable for a wide range of applications, including signal estimation, detection, classification, prediction, and even synthesis. To demonstrate the utility of waveletdomain HMM’s, we develop novel algorithms for signal denoising, classification, and detection. Index Terms — Hidden Markov model, probabilistic graph, wavelets.
Turbo decoding as an instance of Pearl’s belief propagation algorithm
 IEEE Journal on Selected Areas in Communications
, 1998
"... Abstract—In this paper, we will describe the close connection between the now celebrated iterative turbo decoding algorithm of Berrou et al. and an algorithm that has been well known in the artificial intelligence community for a decade, but which is relatively unknown to information theorists: Pear ..."
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Cited by 307 (15 self)
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Abstract—In this paper, we will describe the close connection between the now celebrated iterative turbo decoding algorithm of Berrou et al. and an algorithm that has been well known in the artificial intelligence community for a decade, but which is relatively unknown to information theorists: Pearl’s belief propagation algorithm. We shall see that if Pearl’s algorithm is applied to the “belief network ” of a parallel concatenation of two or more codes, the turbo decoding algorithm immediately results. Unfortunately, however, this belief diagram has loops, and Pearl only proved that his algorithm works when there are no loops, so an explanation of the excellent experimental performance of turbo decoding is still lacking. However, we shall also show that Pearl’s algorithm can be used to routinely derive previously known iterative, but suboptimal, decoding algorithms for a number of other errorcontrol systems, including Gallager’s
Tractable inference for complex stochastic processes
 In Proc. UAI
, 1998
"... The monitoring and control of any dynamic system depends crucially on the ability to reason about its current status and its future trajectory. In the case of a stochastic system, these tasks typically involve the use of a belief state—a probability distribution over the state of the process at a gi ..."
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Cited by 263 (13 self)
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The monitoring and control of any dynamic system depends crucially on the ability to reason about its current status and its future trajectory. In the case of a stochastic system, these tasks typically involve the use of a belief state—a probability distribution over the state of the process at a given point in time. Unfortunately, the state spaces of complex processes are very large, making an explicit representation of a belief state intractable. Even in dynamic Bayesian networks (DBNs), where the process itself can be represented compactly, the representation of the belief state is intractable. We investigate the idea of maintaining a compact approximation to the true belief state, and analyze the conditions under which the errors due to the approximations taken over the lifetime of the process do not accumulate to make our answers completely irrelevant. We show that the error in a belief state contracts exponentially as the process evolves. Thus, even with multiple approximations, the error in our process remains bounded indefinitely. We show how the additional structure of a DBN can be used to design our approximation scheme, improving its performance significantly. We demonstrate the applicability of our ideas in the context of a monitoring task, showing that orders of magnitude faster inference can be achieved with only a small degradation in accuracy. 1
A Unifying Review of Linear Gaussian Models
, 1999
"... Factor analysis, principal component analysis, mixtures of gaussian clusters, vector quantization, Kalman filter models, and hidden Markov models can all be unified as variations of unsupervised learning under a single basic generative model. This is achieved by collecting together disparate observa ..."
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Cited by 259 (17 self)
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Factor analysis, principal component analysis, mixtures of gaussian clusters, vector quantization, Kalman filter models, and hidden Markov models can all be unified as variations of unsupervised learning under a single basic generative model. This is achieved by collecting together disparate observations and derivations made by many previous authors and introducing a new way of linking discrete and continuous state models using a simple nonlinearity. Through the use of other nonlinearities, we show how independent component analysis is also a variation of the same basic generative model. We show that factor analysis and mixtures of gaussians can be implemented in autoencoder neural networks and learned using squared error plus the same regularization term. We introduce a new model for static data, known as sensible principal component analysis, as well as a novel concept of spatially adaptive observation noise. We also review some of the literature involving global and local mixtures of the basic models and provide pseudocode for inference and learning for all the basic models.
Learning the structure of dynamic probabilistic networks
, 1998
"... Dynamic probabilistic networks are a compact representation of complex stochastic processes. In this paper we examine how to learn the structure of a DPN from data. We extend structure scoring rules for standard probabilistic networks to the dynamic case, and show how to search for structure when so ..."
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Cited by 216 (13 self)
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Dynamic probabilistic networks are a compact representation of complex stochastic processes. In this paper we examine how to learn the structure of a DPN from data. We extend structure scoring rules for standard probabilistic networks to the dynamic case, and show how to search for structure when some of the variables are hidden. Finally, we examine two applications where such a technology might be useful: predicting and classifying dynamic behaviors, and learning causal orderings in biological processes. We provide empirical results that demonstrate the applicability of our methods in both domains. 1