Dual estimation refers to the problem of simultaneously estimating the state of a dynamic system and the model which gives rise to the dynamics. Algorithms include expectation-maximization (EM), dual Kalman filtering, and joint Kalman methods. These methods have recently been explored in the context of nonlinear modeling, where a neural network is used as the functional form of the unknown model. Typically, an extended Kalman filter (EKF) or smoother is used for the part of the algorithm that estimates the clean state given the current estimated model. An EKF may also be used to estimate the weights of the network. This paper points out the flaws in using the EKF, and proposes an improvement based on a new approach called the unscented transformation (UT) [3]. A substantial performance gain is achieved with the same order of computational complexity as that of the standard EKF. The approach is illustrated on several dual estimation methods.

The three-dimensional motion of humans is underdetermined when the observation is limited to a single camera, due to the inherent 3D ambiguity of 2D video. We present a system that reconstructs the 3D motion of human subjects from single-camera video, relying on prior knowledge about human motion, learned from training data, to resolve those ambiguities. After initialization in 2D, the tracking and 3D reconstruction is automatic; we show results for several video sequences. The results show the power of treating 3D body tracking as an inference problem.

The statistics of photographic images, when represented using multiscale (wavelet) bases, exhibit two striking types of non Gaussian behavior. First, the marginal densities of the coefficients have extended heavy tails. Second, the joint densities exhibit variance dependencies not captured by second-order models. We examine properties of the class of Gaussian scale mixtures, and show that these densities can accurately characterize both the marginal and joint distributions of natural image wavelet coefficients. This class of model suggests a Markov structure, in which wavelet coefficients are linked by hidden scaling variables corresponding to local image structure. We derive an estimator for these hidden variables, and show that a nonlinear "normalization" procedure can be used to Gaussianize the coefficients.

Independent component analysis of natural images leads to emergence of simple cell properties, Le. linear filters that resemble wavelets or Gabor functions. In this paper, we extend ICA to explain further properties of VI cells.

The Karush-Kuhn-Tucker Theorem is used to derive conditions for determining whether or not a given working set is optimal. These conditions become the algorithm)s termination criteria) as an alternative to Osuna)s criteria (also used by Joachims without modification) which used conditions for individual points. The advantage of the new conditions is that knowledge of the hyperplane)s constant factor b) which in some cases is difficult to compute) is not required. Further investigation of the new termination conditions allows to form the strategy for selecting an optimal working set. The new algorithm is applicable to the pattern recognition SVM) and is provably equivalent to Joachims) algorithm. One can also interpret the new algorithm in the sense of the method of feasible directions. Experimental results presented in the last section demonstrate superior performance of the new method in comparison with traditional training of regression SVM. 2 General Principles of Regression SVM Decomposition The original decomposition algorithm proposed for the pattern recognition SVM in [2] has been extended to the regression SVM in [4]. For the sake of completeness I will repeat the main steps of this extension with the aim of providing terse and streamlined notation to lay the ground for working set selection.

Suppose you are given some dataset drawn from an underlying probability distribution P and you want to estimate a "simple" subset S of input space such that the probability that a test point drawn from P lies outside of S equals some a priori specified

We develop a hierarchical generative model to study cue combination. The model maps a global shape parameter to local cuespecific parameters, which in tum generate an intensity image. Inferring shape from images is achieved by inverting this model. Inference produces a probability distribution at each level; using distributions rather than a single value of underlying variables at each stage preserves information about the validity of each local cue for the given image. This allows the model, unlike standard combination models, to adaptively weight each cue based on general cue reliability and specific image context.

Everybody "knows" that neural networks need more than a single layer of nonlinear units to compute interesting functions. We show that this is false if one employs winner-take-all as nonlinear unit: - Any boolean function can be computed by a single k-winner-takeall unit applied to weighted sums of the input variables.

We have developed and tested an analog/digital VLSI system that models the coordination of biological segmental oscillators underlying axial locomotion in animals such as leeches and lampreys. In its current form the system consists of a chain of twelve pattern generating circuits that are capable of arbitrary contralateral inhibitory synaptic coupling. Each pattern generating circuit is implemented with two independent silicon Morris-Lecar neurons with a total of 32 programmable (floating-gate based) inhibitory synapses, and an asynchronous address-event interconnection element that provides synaptic connectivity and implements axonal delay. We describe and analyze the data from a set of experiments exploring the system behavior in terms of synaptic coupling.

This question was recently shown in [9] to be a special case of a much more fundamental problem: What are the features of the variable X that are relevant for the prediction of another, relevance, variable Y?