• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.736-747
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• 2006

Simultaneous Localization and Map Building(SLAM) is one of the fundamental problems in robot navigation. The Extended Kalman Filter(EKF), which is widely adopted in SLAM approaches, requires extensive computation. The conventional particle filter also needs intense computation to cover a high dimensional state space with particles. This paper proposes an efficient SLAM method based on the recursive unscented Kalman filtering in an environment including a large number of landmarks. The posterior probability distributions of the robot pose and the landmark locations are represented by their marginal Gaussian probability distributions. In particular, the posterior probability distribution of the robot pose is calculated recursively. Each landmark location is updated with the recursively updated robot pose. The proposed method reduces filtering dimensions and computational complexity significantly, and has produced very encouraging results for navigation experiments with noisy multiple simultaneous observations.

• ETRI Journal
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• v.27 no.4
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• pp.461-464
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• 2005

Recently, a variety of confidence measures for utterance verification has been studied to improve speech recognition performance by rejecting out-of-vocabulary inputs. Most of the conventional confidence measures for utterance verification are based primarily on hypothesis testing or an approximated posterior probability, and their performances depend on the robustness of an alternative hypothesis or the prior probability. We introduce a novel confidence measure called a search confusion rate (SCR), which does not require an alternative hypothesis or the approximation of posterior probability. Our confusion-based approach shows better performance in additive noise-corrupted speech as well as in clean speech.

• Bulletin of the Korean Mathematical Society
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• v.44 no.2
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• pp.265-270
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• 2007

The modern approach for wavelets imposes a Bayesian prior model on the wavelet coefficients to capture the sparseness of the wavelet expansion. The idea is to build flexible probability models for the marginal posterior densities of the wavelet coefficients. In this note, we derive exact expressions for a popular model for the marginal posterior density.

• Atmosphere
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• v.19 no.2
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• pp.199-211
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• 2009

In this paper, we examine the multiple change-point and change pattern in the 54 years (1954-2007) time series of the annual and the heavy precipitation characteristics (amount, days and intensity) averaged over South Korea. A Bayesian approach is used for detecting of mean and/or variance changes in a sequence of independent univariate normal observations. Using non-informative priors for the parameters, the Bayesian model selection is performed by the posterior probability through the intrinsic Bayes factor of Berger and Pericchi (1996). To investigate the significance of the changes in the precipitation characteristics between before and after the change-point, the posterior probability and 90% highest posterior density credible intervals are examined. The results showed that no significant changes have occurred in the annual precipitation characteristics (amount, days and intensity) and the heavy precipitation intensity. On the other hand, a statistically significant single change has occurred around 1996 or 1997 in the heavy precipitation days and amount. The heavy precipitation amount and days have increased after the change-point but no changes in the variances.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.42 no.6
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• pp.43-54
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• 2005

This paper proposes a novel texture segmentation method using Bayesian image segmentation method and SOM(Self Organization feature Map). Multi-scale wavelet coefficients are used as the input of SOM, and likelihood and a posterior probability for observations are obtained from trained SOMs. Texture segmentation is performed by a posterior probability from trained SOMs and MAP(Maximum A Posterior) classification. And the result of texture segmentation is improved by context information. This proposed segmentation method shows better performance than segmentation method by HMT(Hidden Markov Tree) model. The texture segmentation results by SOM and multi-sclae Bayesian image segmentation technique called HMTseg also show better performance than by HMT and HMTseg.

• Journal of the Korean Statistical Society
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• v.16 no.2
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• pp.92-101
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• 1987

Our interest is to access in some way teh relative odds or probability that a multivariate observation Z belongs to one of k multivariate normal populations with unequal covariance matrices. We derived the empirical Bayes posterior odds ratio for the classification rule when population parameters are unknown. It is a generalization of the posterior odds ratio suggested by Gelsser (1964). The classification rule does not have complicated distribution theory which a large variety of techniques from the sampling viewpoint have. The proposed posterior odds ratio is compared to the Gelsser's posterior odds ratio through a Monte Carlo study. The results show that the empiricla Bayes posterior odds ratio, in general, performs better than the Gelsser's. Especially, for large dimension of Z and small training sample, the performance is prominent.

• Proceedings of the Korean Statistical Society Conference
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• 2003.10a
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• pp.15-19
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• 2003

In this paper, we develop the Jeffreys' prior, reference priors and the probability matching priors for the intraclass correlation coefficient of a symmetric normal distribution. We next verify propriety of posterior distributions under those noninformative priors. We examine whether reference priors satisfy the probability matching criterion.

• The Korean Journal of Applied Statistics
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• v.19 no.1
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• pp.171-181
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• 2006

The Wald confidence interval has been considered as a standard method for the difference of proportions. However, the erratic behavior of the coverage probability of the Wald confidence interval is recognized in various literatures. Various alternatives have been proposed. Among them, Agresti-Caffo confidence interval has gained the reputation because of its simplicity and fairly good performance in terms of coverage probability. It is known however, that the Agresti-Caffo confidence interval is conservative. In this note, a confidence interval is developed using the weighted Polya posterior which was employed to obtain a confidence interval for the binomial proportion in Lee(2005). The resulting confidence interval is simple and effective in various respects such as the closeness of the average coverage probability to the nominal confidence level, the average expected length and the mean absolute error of the coverage probability. Practically it can be used for the interval estimation of the difference of proportions for any sample sizes and parameter values.

• Journal of the Korean Statistical Society
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• v.32 no.4
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• pp.411-423
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• 2003

In this paper we develop a method for calculating a probability that a particular generalized variance is the smallest of all the K multivariate normal generalized variances. The method gives a way of comparing K multivariate populations in terms of their dispersion or spread, because the generalized variance is a scalar measure of the overall multivariate scatter. Fully parametric frequentist approach for the probability is intractable and thus a Bayesian method is pursued using a variant of weighted Monte Carlo (WMC) sampling based approach. Necessary theory involved in the method and computation is provided.

• The Korean Journal of Applied Statistics
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• v.18 no.3
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• pp.607-615
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• 2005

Recently the interval estimation of a binomial proportion is revisited in various literatures. This is mainly due to the erratic behavior of the coverage probability of the will-known Wald confidence interval. Various alternatives have been proposed. Among them, Agresti-Coull confidence interval has been recommended by Brown et al. (2001) with other confidence intervals for large sample, say n $\ge$ 40. On the other hand, a noninformative Bayesian approach called Polya posterior often produces statistics with good frequentist's properties. In this note, an interval estimator is developed using weighted Polya posterior. The resulting interval estimator is essentially the Agresti-Coull confidence interval with some improved features. It is shown that the weighted Polys posterior produce an effective interval estimator for small sample size and a severely skewed binomial distribution.