Search results for "Probabilistic logic"
showing 10 items of 253 documents
Probabilistic Self-Localization and Mapping - An Asynchronous Multirate Approach
2008
[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchr…
Probabilistic characterization of flood hazard using bivariate analysis based on copulas
2014
This study presents an innovative approach to obtain flood hazard maps where hydrological input (synthetic flood design event) to a 2D hydraulic model has been defined by generating flood peak discharges and volumes from a bivariate statistical analysis, through the use of copulas. Synthetic hydrographs were generated by means two different approaches: an indirect one, where rainfall were generated by a stochastic bivariate rainfall generator to be entered a distributed conceptual rainfall-runoff model that consisted of a soil moisture routine and a flow routing routine; and a direct one, where stochastic generation of flood peaks and flow volumes have been obtained via copulas, which descr…
Bayesian metanetworks for modelling user preferences in mobile environment
2003
The problem of profiling and filtering is important particularly for mobile information systems where wireless network traffic and mobile terminal’s size are limited comparing to the Internet access from the PC. Dealing with uncertainty in this area is crucial and many researchers apply various probabilistic models. The main challenge of this paper is the multilevel probabilistic model (the Bayesian Metanetwork), which is an extension of traditional Bayesian networks. The extra level(s) in the Metanetwork is used to select the appropriate substructure from the basic network level based on contextual features from user’s profile (e.g. user’s location). Two models of the Metanetwork are consi…
An Improved Skew Angle Detection and Correction Technique for Historical Scanned Documents Using Morphological Skeleton and Progressive Probabilistic…
2017
International audience; Skew detection is a crucial step for document analysis systems. Indeed, it represents one of the basic challenges, especially in case of historical documents analysis. In this paper, we propose a novel robust skew angle detection and correction technique. Morphological Skeleton is introduced to significantly reduce the amount of data to treat by removing the redundant pixels and keeping only the central curves of the image components. The proposed method then uses Progressive Probabilistic Hough Transform (PPHT) to identify image lines. A special procedure is finally applied in order to estimate the global skew angle of the document image from these detected lines. E…
Mean sets for building 3D probabilistic liver atlas from perfusion MR images
2012
This paper is concerned with liver atlas construction. One of the most important issues in the framework of computational abdominal anatomy is to define an atlas that provides a priori information for common medical task such as registration and segmentation. Unlike other approaches already proposed so far (to our knowledge), in this paper we propose to use the concept of random compact mean set to build probabilistic liver atlases. To accomplish this task a two-tier process was carried out. First a set of 3D images was manually segmented by a physician. We see the different 3D segmented shapes as a realization of a random compact set. Secondly, elements of two known definitions of mean set…
Bayesian Metanetwork for Context-Sensitive Feature Relevance
2006
Bayesian Networks are proven to be a comprehensive model to describe causal relationships among domain attributes with probabilistic measure of appropriate conditional dependency. However, depending on task and context, many attributes of the model might not be relevant. If a network has been learned across multiple contexts then all uncovered conditional dependencies are averaged over all contexts and cannot guarantee high predictive accuracy when applied to a concrete case. We are considering a context as a set of contextual attributes, which are not directly effect probability distribution of the target attributes, but they effect on a “relevance” of the predictive attributes towards tar…
The role of synergies within generative models of action execution and recognition: A computational perspective
2015
Controlling the body – given its huge number of degrees of freedom – poses severe computational challenges. Mounting evidence suggests that the brain alleviates this problem by exploiting “synergies”, or patterns of muscle activities (and/or movement dynamics and kinematics) that can be combined to control action, rather than controlling individual muscles of joints [1–10]. D’Ausilio et al. [11] explain how this view of motor organization based on synergies can profoundly change the way we interpret studies of action recognition in humans and monkeys, and in particular the controversy on the “granularity” of the mirror neuron system (MNs): whether it encodes either (lower) kinematic aspects…
A Scheme for Secure and Reliable Distributed Data Storage in Unattended WSNs
2010
Unattended Wireless Sensor Networks (UWSNs) operated in hostile environments face a risk on data security due to the absence of real-time communication between sensors and sinks, which imposes sensors to accumulate data till the next visit of a mobile sink to off-load the data. Thus, how to ensure forward secrecy, backward secrecy and reliability of the accumulated data is a great challenge. For example, if a sensor is compromised, pre-compromise data accumulated in the sensor is exposed to access. In addition, by holding key secrecy of the compromised sensor, attackers also can learn post-compromise data in the sensor. Furthermore, in practical UWSNs, once sensors stop working for accident…
Quality-preserving low-cost probabilistic 3D denoising with applications to Computed Tomography
2021
AbstractWe propose a pipeline for a synthetic generation of personalized Computer Tomography (CT) images, with a radiation exposure evaluation and a lifetime attributable risk (LAR) assessment. We perform a patient-specific performance evaluation for a broad range of denoising algorithms (including the most popular Deep Learning denoising approaches, wavelets-based methods, methods based on Mumford-Shah denoising etc.), focusing both on accessing the capability to reduce the patient-specific CT-induced LAR and on computational cost scalability. We introduce a parallel probabilistic Mumford-Shah denoising model (PMS), showing that it markedly-outperforms the compared common denoising methods…
Gaussian Process Regression (GPR) Representation in Predictive Model Markup Language (PMML)
2017
International audience; This paper describes Gaussian process regression (GPR) models presented in predictive model markup language (PMML). PMML is an extensible-markup-language (XML) -based standard language used to represent data-mining and predictive analytic models, as well as pre- and post-processed data. The previous PMML version, PMML 4.2, did not provide capabilities for representing probabilistic (stochastic) machine-learning algorithms that are widely used for constructing predictive models taking the associated uncertainties into consideration. The newly released PMML version 4.3, which includes the GPR model, provides new features: confidence bounds and distribution for the pred…