Finding the optimal cardinality value for information bottleneck method

Information Bottleneck method can be used as a dimensionality reduction approach by grouping “similar” features together [1]. In application, a natural question is how many “features groups” will be appropriate. The dependency on prior knowledge restricts the applications of many Information Bottleneck algorithms. In this paper we alleviate this dependency by formulating the parameter determination as a model selection problem, and solve it using the minimum message length principle. An efficient encoding scheme is designed to describe the information bottleneck solutions and the original data, then the minimum message length principle is incorporated to automatically determine the optimal cardinality value. Empirical results in the documentation clustering scenario indicates that the proposed method works well for the determination of the optimal parameter value for information bottleneck method.

A method for stereo-vision based tracking for robotic applications

Vision based tracking of an object using the ideas of perspective projection inherently consists of nonlinearly modelled measurements although the underlying dynamic system that encompasses the object and the vision sensors can be linear. Based on a necessary stereo vision setting, we introduce an appropriate measurement conversion techniques which subsequently facilitate using a linear filter. Linear filter together with the aforementioned measurement conversion approach conforms a robust linear filter that is based on the set values state estimation ideas; a particularly rich area in the robust control literature. We provide a rigorously theoretical analysis to ensure bounded state estimation errors formulated in terms of an ellipsoidal set in which the actual state is guaranteed to be included to an arbitrary high probability. Using computer simulations as well as a practical implementation consisting of a robotic manipulator, we demonstrate our linear robust filter significantly outperforms the traditionally used extended Kalman filter under this stereo vision scenario. © 2008 IEEE.