• 제목/요약/키워드: invariant probability

검색결과 46건 처리시간 0.018초

위상학적 공간 인식을 위한 효과적인 초음파 격자 지도 매칭 기법 개발 (Effective Sonar Grid map Matching for Topological Place Recognition)

  • 최진우;최민용;정완균
    • 로봇학회논문지
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    • 제6권3호
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    • pp.247-254
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    • 2011
  • This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

INVARIANT MEASURE AND THE EULER CHARACTERISTIC OF PROJECTIVELY ELAT MANIFOLDS

  • Jo, Kyeong-Hee;Kim, Hyuk
    • 대한수학회지
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    • 제40권1호
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    • pp.109-128
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    • 2003
  • In this paper, we show that the Euler characteristic of an even dimensional closed projectively flat manifold is equal to the total measure which is induced from a probability Borel measure on RP$^{n}$ invariant under the holonomy action, and then discuss its consequences and applications. As an application, we show that the Chen's conjecture is true for a closed affinely flat manifold whose holonomy group action permits an invariant probability Borel measure on RP$^{n}$ ; that is, such a closed affinly flat manifold has a vanishing Euler characteristic.

ON THE EXISTENCE OF A UNIQUE INVARIANT PROBABILITY FOR A CLASS OF MARKOV PROCESSES

  • Lee, Oesook
    • 대한수학회보
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    • 제30권1호
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    • pp.91-97
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    • 1993
  • In this article, we consider the case that S is a topologically complete subspace of $R^{k}$ , and that .GAMMA. is a set of monotone functions on S into S. It is obtained the sugficient condition for the existence of a unique invariant probability to which $P^{(n}$/(x,dy) converges exponentially fast in a metric stronger than the Kolmogorov's distance. This extends the earlier results of Bhattacharya and Lee (1988) who considered the case .GAMMA. a set of nondecreasing functions.tions.

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AFFINE MANIFOLD WITH MEASURE PRESERVING PROJECTIVE HOLONOMY GROUP

  • Park, Yeong-Su
    • 대한수학회보
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    • 제38권1호
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    • pp.157-161
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    • 2001
  • In this paper, we prove that an affine manifold M is finitely covered by a manifold $\overline{M}$ where $\overline{M}$ is radiant or the tangent bundle of $\overline{M}$ has a conformally flat vector subbundle of the projective holonomy group of M admits an invariant probability Borel measure. This implies that$x^M$is zero.

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Estimation of Geometric Mean for k Exponential Parameters Using a Probability Matching Prior

  • Kim, Hea-Jung;Kim, Dae Hwang
    • Communications for Statistical Applications and Methods
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    • 제10권1호
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    • pp.1-9
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    • 2003
  • In this article, we consider a Bayesian estimation method for the geometric mean of $textsc{k}$ exponential parameters, Using the Tibshirani's orthogonal parameterization, we suggest an invariant prior distribution of the $textsc{k}$ parameters. It is seen that the prior, probability matching prior, is better than the uniform prior in the sense of correct frequentist coverage probability of the posterior quantile. Then a weighted Monte Carlo method is developed to approximate the posterior distribution of the mean. The method is easily implemented and provides posterior mean and HPD(Highest Posterior Density) interval for the geometric mean. A simulation study is given to illustrates the efficiency of the method.

무기억 균일 신호원에 대한 수리 형태론적인 불림과 등가 시스템의 통계적 비교 (Statistical comparison of morphological dilation with its equivalent linear shift-invariant system:case of memoryless uniform soruces)

  • 김주명;최상신;최태영
    • 전자공학회논문지S
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    • 제34S권2호
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    • pp.79-93
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    • 1997
  • This paper presents a linear shift-invariant system euqivalent to morphological dilation for a memoryless uniform source in the sense of the power spectral density function, and comares it with dialtion. This equivalent LSI system is found through spectral decomposition and, for dilation and with windwo size L, it is shown to be a finite impulse response filter composed of L-1 delays, L multipliers and three adders. Th ecoefficients of the equivalent systems are tabulated. The comparisons of dilation and its equivalent LSI system show that probability density functions of the output sequences of the two systems are quite different. In particular, the probability density functon from dilation of an independent and identically distributed uniform source over the unit interval (0, 1) shows heavy probability in around 1, while that from the equivalent LSI system shows probability concentration around themean vlaue and symmetricity about it. This difference is due to the fact that dilation is a non-linear process while the equivalent system is linear and shift-ivariant. In the case that dikation is fabored over LSI filters in subjective perforance tests, one of the factors can be traced to this difference in the probability distribution.

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LIMIT THEOREMS FOR MARKOV PROCESSES GENERATED BY ITERATIONS OF RANDOM MAPS

  • Lee, Oe-Sook
    • 대한수학회지
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    • 제33권4호
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    • pp.983-992
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    • 1996
  • Let p(x, dy) be a transition probability function on $(S, \rho)$, where S is a complete separable metric space. Then a Markov process $X_n$ which has p(x, dy) as its transition probability may be generated by random iterations of the form $X_{n+1} = f(X_n, \varepsilon_{n+1})$, where $\varepsilon_n$ is a sequence of independent and identically distributed random variables (See, e.g., Kifer(1986), Bhattacharya and Waymire(1990)).

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INVESTIGATION OF THE COHERENT WAVE PACKET FOR A TIME-DEPENDENT DAMPED HARMONIC OSCILLATOR

  • CHOI JEONG RYEOL;CHOI S. S.
    • Journal of applied mathematics & informatics
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    • 제17권1_2_3호
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    • pp.495-508
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    • 2005
  • We investigated both classical and quantum properties of a damped harmonic oscillator with a time-variable elastic coefficient using invariant operator method. We acquired the energy eigenvalues, uncertainties and probability densities for several types of wave packet. The probability density corresponding to the displaced minimum wave packet expressed in terms of the time-dependent Gaussian function. The displaced minimum wave packet not only be attenuated but also oscillates about x = 0. We confirmed that there exist correspondence between quantum and classical behaviors for the time-dependent damped harmonic oscillator.