• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.7
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• pp.847-851
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• 2004

In the original mixture density network(MDN), which was introduced by Bishop and Nabney, the parameters of the conditional probability density function are represented by the output vector of a single multi-layer perceptron. Among the recent modification of the MDNs, there is the so-called modified mixture density network, in which each of the priors, conditional means, and covariances is represented via an independent multi-layer perceptron. In this paper, we consider a further simplification of the modified MDN, in which the conditional means are linear with respect to the input variable together with the development of the MATLAB program for the simplification. In this paper, we first briefly review the original mixture density network, then we also review the modified mixture density network in which independent multi-layer perceptrons play an important role in the learning for the parameters of the conditional probability, and finally present a further modification so that the conditional means are linear in the input. The applicability of the presented method is shown via an illustrative simulation example.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.2
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• pp.186-190
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• 2015

Intelligent vehicle plans motion and navigate itself based on the surrounding environment perception. Hence, the precise environment recognition is an essential part of self-driving vehicle. There exist many vulnerable road users (e.g. vehicle, pedestrians) on vehicular driving environment, the vehicle must percept all the dynamic obstacles accurately for safety. In this paper, we propose an multiple vehicle tracking algorithm using microwave radar. Our proposed system includes various special features. First, exceptional radar measurement model for vehicle, concentrated on the corner, is described by mixture density network (MDN), and applied to particle filter weighting. Also, to conquer the curse of dimensionality of particle filter and estimate the time-varying number of multi-target states, reversible jump markov chain monte carlo (RJMCMC) is used to sampling step of the proposed algorithm. The robustness of the proposed algorithm is demonstrated through several computer simulations.