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 21 for “"Factor Graphs"”.
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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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Error -Correcting Codes on Graphs: Lexicodes, Trellises and Factor Graphs
… The second technique is based on decoding with factor graphs, which are smaller than trellis representations and have enjoyed much attention in the recent literature. We look at a specific type of factor graphs known as Tanner graphs, for which a decoding algorithm is known. This decoding …
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Joint base-calling of two DNA sequences with factor graphs
… by applying the sum-product algorithm on factor graphs. This approach allows a single electrophoresis experiment to process two sequences, using the same quantity of reagents and machine hours as for a single sequence. A practical heuristic is first used to estimate the peak parameters, …
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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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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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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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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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Belief propagation on factor graph neural networks
… 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 for non-loopy factor graphs. However, when applied to loopy factor graphs, it only …
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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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Domination in graphs: Vizing's conjecture
… number of the Cartesian product of two graphs is at least as large as the product of the domination numbers of the two factor graphs. The aim of this thesis is to study the various approaches implemented by researchers over the years in an attempt to prove (or disprove) Vizing's …
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Interaction Between Modules in Learning Systems for Vision Applications
… representation. This new framework is based on factor graphs. It relaxes some of the constraints of the traditional factor graphs and replaces its function nodes by modified versions of some of the modules that have been developed for specific vision tasks. These modules can be easily formulated …
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Loosely coupled LiDAR-Visual/Thermal-Inertial Odometry and Mapping
… odometry and mapping method that uses factor graphs. Our approach jointly optimizes relative pose constraints provided by a LiDAR scan-to-scan alignment method and a Visual/Thermal-Inertial method with preintegrated IMU constraints. An optimized relative pose prior is provided to a …
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Probabilistic Programming with Low-Level, High-Performance GPU Programmable Inference
… algorithms applied to diverse models including factor graphs, mixture models, and Hidden Markov Models. Results show significant performance improvements over JAX-based implementations: up to 3× speedup for importance sampling on a hierarchical model, 5.7× speedup for parallel Gibbs sampling on …
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Equalization Using Graphical Models
… is based can be used for analysis. We use factor graphs to develop efficient implementations of various equalization algorithms, including an unconstrained and a constrained linear minimum mean squared error equalizer and a generalized decision feedback equalizer. In addition to providing …
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Scalable Full Posterior Inference for Uncertainty-Aware Robot Perception
… posteriors. We harness the sparsity in factor graphs for scalability and utilize diverse density approximations to enhance expressivity. In advancing SLAM algorithms, we have achieved three contributions that provide unprecedented accuracy in describing posterior distributions, …
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Composable probabilistic inference with BLAISE
… graphical modeling language that generalizes factor graphs by: (1) explicitly representing inference algorithms (and their locality) using a new type of graph node, (2) representing hierarchical composition and repeated substructures in the state space, the interest distribution, and the …
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Advances in Iterative Probabilistic Processing for Communication Receivers
… number of variables connected to a particular factor node and can be prohibitive in multi-user and multi-antenna applications. In this dissertation we identify three key problems which can benefit from iterative probabilistic processing, but for which the sum-product algorithm is too complex. …
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Graph-based decoders and divergence-rate estimators for data-hiding problems
… distortion operations. Employing Forney-style factor graphs to model the watermarking system, we cast the blind watermark decoding problem as a probabilistic inference problem on a graph, and solve it via messagepassing. We study a wide range of moderate to strong distortions including scaling, …
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Dense, sonar-based reconstruction of underwater scenes
… simultaneously under the unified framework of factor graphs. This stands in contrast with the traditional approach where the sensor processing and segmentation, pose estimation, and model reconstruction problems are solved independently. Finally, we provide experimental results obtained over …
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