An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute position and orientation of the camera. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. The utilization of data is shown to improve the robustness and accuracy of the inertial navigation algorithm. Extended Kalman filter was used to combine results of inertial navigation algorithm and proposed vision-based navigation algorithm. The feasibility of this algorithms is established through numerical simulations.

Prediction markets are used in real life to predict outcomes of interest such as presidential elections. This paper presents a mathematical theory of artificial prediction markets for supervised learning of conditional probability estimators. The artificial prediction market is a novel method for fusing the prediction information of features or trained classifiers, where the fusion result is the contract price on the possible outcomes. The market can be trained online by updating the participants' budgets using training examples. Inspired by the real prediction markets, the equations that govern the market are derived from simple and reasonable assumptions. Efficient numerical algorithms are presented for solving these equations. The obtained artificial prediction market is shown to be a maximum likelihood estimator. It generalizes linear aggregation, existent in boosting and random forest, as well as logistic regression and some kernel methods. Furthermore, the market mechanism allows the aggregation of specialized classifiers that participate only on specific instances. Experimental comparisons show that the artificial prediction markets often outperform random forest and implicit online learning on synthetic data and real UCI datasets. Moreover, an extensive evaluation for pelvic and abdominal lymph node detection in CT data shows that the prediction market improves adaboost's detection rate from 79.6% to 81.2% at 3 false positives/volume.

The machine learning community has recently devoted much attention to the problem of inferring causal relationships from statistical data. Most of this work has focused on uncovering connections among scalar random variables. We generalize existing methods to apply to collections of multi-dimensional random vectors, focusing on techniques applicable to linear models. The performance of the resulting algorithms is evaluated and compared in simulations, which show that our methods can, in many cases, provide useful information on causal relationships even for relatively small sample sizes.

We consider the setting of sequential prediction of arbitrary sequences based on specialized experts. We first provide a review of the relevant literature and present two theoretical contributions: a general analysis of the specialist aggregation rule of Freund et al. (1997) and an adaptation of fixed-share rules of Herbster and Warmuth (1998) in this setting. We then apply these rules to the sequential short-term (one-day-ahead) forecasting of electricity consumption; to do so, we consider two data sets, a Slovakian one and a French one, respectively concerned with hourly and half-hourly predictions. We follow a general methodology to perform the stated empirical studies and detail in particular tuning issues of the learning parameters. The introduced aggregation rules demonstrate an improved accuracy on the data sets at hand; the improvements lie in a reduced mean squared error but also in a more robust behavior with respect to large occasional errors.

Consider a weighted or unweighted k-nearest neighbor graph that has been built on n data points drawn randomly according to some density p on R^d. We study the convergence of the shortest path distance in such graphs as the sample size tends to infinity. We prove that for unweighted kNN graphs, this distance converges to an unpleasant distance function on the underlying space whose properties are detrimental to machine learning. We also study the behavior of the shortest path distance in weighted kNN graphs.

In this paper, we discuss the implementation of a rule based expert system for diagnosing neuromuscular diseases. The proposed system is implemented as a rule based expert system in JESS for the diagnosis of Cerebral Palsy, Multiple Sclerosis, Muscular Dystrophy and Parkinson's disease. In the system, the user is presented with a list of questionnaires about the symptoms of the patients based on which the disease of the patient is diagnosed and possible treatment is suggested. The system can aid and support the patients suffering from neuromuscular diseases to get an idea of their disease and possible treatment for the disease.

Detection and elimination of redundant clauses from propositional formulas in Conjunctive Normal Form (CNF) is a fundamental problem with numerous application domains, including AI, and has been the subject of extensive research. Moreover, a number of recent applications motivated various extensions of this problem. For example, unsatisfiable formulas partitioned into disjoint subsets of clauses (so-called groups) often need to be simplified by removing redundant groups, or may contain redundant variables, rather than clauses. In this report we present a generalized theoretical framework of labelled CNF formulas that unifies various extensions of the redundancy detection and removal problem and allows to derive a number of results that subsume and extend previous work. The follow-up reports contain a number of additional theoretical results and algorithms for various computational problems in the context of the proposed framework.

We address the issue of edge detection in Synthetic Aperture Radar imagery. In particular, we propose nonparametric methods for edge detection, and numerically compare them to an alternative method that has been recently proposed in the literature. Our results show that some of the proposed methods display superior results and are computationally simpler than the existing method. An application to real (not simulated) data is presented and discussed.

This paper is motivated by the practical problem of how to meaningfully perform sparse regression when the predictor variables are observed with measurement error or some source of uncertainty. We will refer to this error or noise as design uncertainty to emphasize that perturbations in the design matrix may arise from a number of random sources unrelated to experimental or measurement error per se. Recent workin this areahasjust begun to addressthe issue ofsparseregressionunder design uncertainty from a theoretical point of view. We are primarily interested in describing an approach that, while theoretically justifiable, is essentially pragmatic and broadly applicable. In short, we argue that greed - a basic feature of many sparsity promoting algorithms - is indeed good [Tropp, 2004], so long as the design data is scaled by the uncertainty variances. We demonstrate the efficacy of scaling from several points of view and validate it empirically with a biomass characterization data set using two of the most widely used sparse algorithms: least angle regression (LARS) and the Dantzig selector (DS). Our work was motivated by an example from a biomass characterization experiment related to work at the National Renewable Energy Laboratory. The example is described in detail in Section 4 and contains repeated measurements of mass spectral (design, or predictor) and sugar mass fraction (response) values within each switchgrass sample. The domain scientists' goal was to find a small subset of masses in the spectrum that could be used to predict sugar mass fraction.

Combinatorial optimization is widely applied in a number of areas nowadays. Unfortunately, many combinatorial optimization problems are NP-hard which usually means that they are unsolvable in practice. However, it is often unnecessary to have an exact solution. In this case one may use heuristic approach to obtain a near-optimal solution in some reasonable time. We focus on two combinatorial optimization problems, namely the Generalized Traveling Salesman Problem and the Multidimensional Assignment Problem. The first problem is an important generalization of the Traveling Salesman Problem; the second one is a generalization of the Assignment Problem for an arbitrary number of dimensions. Both problems are NP-hard and have hosts of applications. In this work, we discuss different aspects of heuristics design and evaluation. A broad spectrum of related subjects, covered in this research, includes test bed generation and analysis, implementation and performance issues, local search neighborhoods and efficient exploration algorithms, metaheuristics design and population sizing in memetic algorithm. The most important results are obtained in the areas of local search and memetic algorithms for the considered problems. In both cases we have significantly advanced the existing knowledge on the local search neighborhoods and algorithms by systematizing and improving the previous results. We have proposed a number of efficient heuristics which dominate the existing algorithms in a wide range of time/quality requirements. Several new approaches, introduced in our memetic algorithms, make them the state-of-the-art metaheuristics for the corresponding problems. Population sizing is one of the most promising among these approaches; it is expected to be applicable to virtually any memetic algorithm.