From Kalman to Particle Filtering for solving Signal Processing Problems with Neural Networks
September 4, 2002, 8:30-9:20
Many nonlinear signal processing problems are best solved by sequential
algorithms. The inherent sequential arrival of data and possible
nonstationarities in the underlying process necessitate this.
The simple, and well known, approach to sequential learning
and inference is to cast the problem in a state space formulation
and apply the Extended Kalman Filter (EKF). This works by local
linearisations of the state space equations and consequently
approximating the induced probability densities by Gaussian distributions.
Several enhancements to the basic EKF approach exist including
the framework to handle multiple models, iterative refinements of the
local approximations about the operating point and a technique known as
the Unscented Kalman Filter (UKF).
Other, more sophisticated nonparametric, ways of representing the
modelling uncertainties via sampling methods fall under
the class of algorithms known as Particle Filters.
These are more suitable for problems where linear approximations
often fail, inducing multi-modal probability densities
of the underlying uncertainties.
Hence they are better approaches in models such as
Neural Networks which are used as function approximators in
problems containing high nonlinearities.
This talk will partly be of a tutorial nature, reviewing and
motivating recent developments in sequential modelling
with nonlinear models. I will also illustrate my
recent work on
two interesting applications: A data-driven approach to
modelling air-pollution and tracking rapidly changing
resonances in speech signals.