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arXiv 2303.02412stat.MLcs.SYeess.SY
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基于最优传输映射序列的渐进贝叶斯粒子流

Progressive Bayesian Particle Flows based on Optimal Transport Map Sequences

Uwe D. Hanebeck

摘要:

提出了一种基于确定性粒子的最优贝叶斯滤波方法。为了避免颗粒退化,不立即执行过滤步骤。相反,颗粒从前面逐渐流向后面。这是通过将过滤步骤分成一系列子步骤来实现的。在每个子步骤中,最优重定位是通过一个映射来完成的,该映射将非等权重粒子替换为等权重粒子。不需要映射的反演或单调性约束,大大简化了过程。对映射网络的参数进行了优化。到粒子集距离。该距离是可微的,并比较不相等和相等权重的粒子。映射序列的组成提供了从先前粒子到后验粒子的最终映射。径向基函数神经网络被用作映射。重要的是不需要中间连续密度表示。整个流直接使用粒子表示。这避免了昂贵的密度估计。

英文摘要:

We propose a method for optimal Bayesian filtering with deterministic particles. In order to avoid particle degeneration, the filter step is not performed at once. Instead, the particles progressively flow from prior to posterior. This is achieved by splitting the filter step into a series of sub-steps. In each sub-step, optimal resampling is done by a map that replaces non-equally weighted particles with equally weighted ones. Inversions of the maps or monotonicity constraints are not required, greatly simplifying the procedure. The parameters of the mapping network are optimized w.r.t.\ to a particle set distance. This distance is differentiable, and compares non-equally and equally weighted particles. Composition of the map sequence provides a final mapping from prior to posterior particles. Radial basis function neural networks are used as maps. It is important that no intermediate continuous density representation is required. The entire flow works directly with particle representations. This avoids costly density estimation.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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