Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 36 for “"Factor Graph"”.
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Belief propagation on factor graph neural networks
Probabilistic graphical models are a statistical framework for conditionally dependent random variables with dependencies represented by graphs. A traditional method to perform inference over these random variables is Belief Propagation. Belief Propagation can be used to compute an exact solution …
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A Hardware Generator for Factor Graph Applications
A Factor Graph (FG -- http://en.wikipedia.org/wiki/Factor_graph) is a structure used to find solutions to problems that can be represented as a Probabilistic Graphical Model (PGM). They consist of interconnected variable nodes and factor nodes, which iteratively compute and pass messages to each …
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Non-Gaussian Factor Graph Inference for Robotic Navigation
This thesis addresses non-Gaussian factor graph inference problems that arise in simultaneous localization and mapping (SLAM). We present a general framework to draw samples from the joint posterior distributions of a SLAM problem via ancestral sampling on the Bayes tree. This conditional sampling …
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An experiment using factor graph for early attack detection
This paper presents a factor graph based framework (named AttackTagger) for high accuracy and preemptive detection of attacks. We use security logs of real-incidents that occurred over a six-year period at the National Center for Supercomputing Applications (NCSA) at the University of Illinois to …
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GPU-accelerated Inference for Discrete Probabilistic Programs
… programs. We make two key contributions : (1) a factor graph IR implemented in JAX that supports variable elimination and Gibbs sampling, and (2) a modeling DSL with a compiler that lowers programs to the factor graph IR. Our system enables significant performance optimizations through static …
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Multi-modal and inertial sensor solutions for navigation-type factor graphs
… joint probability is described by a non-Gaussian factor graph model. Existing inference algorithms in simultaneous localization and mapping assume Gaussian measurement uncertainty, resulting in complex front-end processes that attempt to deal with non-Gaussian measurements. Existing robustness …
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A novel inference algorithm on graphical model
… for approximate inference that, given a factor graph and a subset of its variables, produces an approximate marginal distribution over these variables with bounds. The factors of the factor graph are abstracted as as piecewise polynomial functions with lower and upper bounds, and a …
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Multi-modal and inertial sensor solutions for navigation-type factor graphs
… tree, which is an efficient symbolic refactorization of the nonparametric factor graph, and asymptotically approximates the underlying Chapman-Kolmogorov equations. Our method tracks dominant modes in the marginal posteriors of all variables with minimal approximation error, while …
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Cumulative Distribution Networks: Inference, Estimation and Applications of Graphical Models for Cumulative Distribution Functions
This thesis presents a class of graphical models for directly representing the joint cumulative distribution function (CDF) of many random variables, called cumulative distribution networks (CDNs). Unlike graphical models for probability density and mass functions, in a CDN, the marginal …
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Motion planning with dynamic constraints through pose graph optimization
… The motion planner extends the application of factor-graph optimization commonly used in simultaneous localization and mapping tasks to the path-planning task, specifically the "timed elastic band" trajectory optimization approach [1] for control input extraction functionality. This is achieved …
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Messaging for large-scale distributed computation with factor graphs
… present a language for generic computation using Factor Graphs, a computationally convenient data structure abstraction that has been popularly utilized for efficient inference in the framework of probabilistic graphical models cf. [22, 15, 30]. We show that message passing over Factor Graphs is …
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Input of Factor Graphs into the Detection, Classification, and Localization Chain and Continuous Active SONAR in Undersea Vehicles
The focus of this thesis is to implement factor graphs into the problem of detection, classification, and localization (DCL) of underwater objects using active SOund Navigation And Ranging (SONAR). A factor graph is a bipartite graphical representation of the decomposition of a particular function. …
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Toward autonomous underwater mapping in partially structured 3D environments
… the vehicle and plane positions as nodes in a factor graph. We also present a system for outlier rejection and smoothing of 3D sonar data, and for generating loop closure constraints based on the alignment of smoothed submaps. Our factor graph SLAM backend combines loop closure constraints from …
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Toward autonomous underwater mapping in partially structured 3D environments
… the vehicle and plane positions as nodes in a factor graph. We also present a system for outlier rejection and smoothing of 3D sonar data, and for generating loop closure constraints based on the alignment of smoothed submaps. Our factor graph SLAM backend combines loop closure constraints from …
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Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
Dynamics Factor Graph (DFG) is a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynam- ics and contacts. In this thesis I will present DFG and explain the different variables and constraints being used in legged robot …
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Factor graphs and MCMC approaches to iterative equalization of nonlinear dispersive channels
… iterative equalization. The first strategy is a factor graph based equalizer that converts the nonlinear channel equalization problem into forward-backward algorithm on hidden Markov model (HMM). The equalizer is implemented via the sum-product algorithm on the factor graph representation of the …
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1-Factorizations of tensor products of graphs
We determine the existence of 1-factorizations of certain tensor products of graphs. The properties of these 1-factorizations are of interest; to study them, we develop results about the automorphism group of tensor products of graphs. The 1-factors of a particular product are analyzed extensively, …
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On the utilization of Simultaneous Localization and Mapping(SLAM) along with vehicle dynamics in Mobile Road Mapping Systems
… is formulated as an inference problem over a factor graph and existing factor graph SLAM techniques are used to solve the problem. For the mobile road mapping problem, the road surface being measured is one the primary inputs to the dynamics of the MRMS. Hence, concurrent to the main objective …
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Analytic search methods in online social networks
… the users by maximizing the probability over a factor graph model. This factor graph model accounts for the implications of both observed user profile features and social network connections in inferring location. Using geo-located data to evaluate our method, we find that our classification …
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On-orbit inspection of a rotating object using a moving observer
… which is independent of target motion, using a factor graph approach. Here, star tracker orientation measurements, gyroscope and acceleration measurements, and range and bearing measurements to the target's centroid are input as factors into a trajectory factor graph. Taken together, these …
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