Graphical Models in Data Association Problems

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Graphical Models in Data Association Problems
Alexander Ihler UC Irvine
ihler_at_ics.uci.edu
Collaborators Sergey Kirshner Andrew
Robertson Padhraic Smyth
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Outline

• Graphical models
• Convenient description of structure among random
  variables
• Use this structure to
• Organize inference computations
• Finding optimal (ML, etc.) estimates
• Calculate data likelihood
• Simulation / drawing samples
• Suggest sub-optimal (approximate) inference
  computations
• e.g. when optimal computations too expensive
• Some examples from data association
• Markov chains, Kalman filtering
• Rainfall models
• Mixtures of trees
• Loopy graphs
• Image analysis (de-noising, smoothing, etc.)

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Graphical Models
An undirected graph is defined by
set of nodes
set of edges connecting nodes
Nodes are associated with random
variables
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Graphical ModelsFactorization

• Sufficient condition
• Distribution factors into product of potential
  functions defined on cliques of G
• Condition also necessary if distribution strictly
  positive
• Examples

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Graphical ModelsInference

• Many possible inference goals
• Given a few observed RVs, compute
• Marginal distributions
• Joint, Maximum a-posteriori (MAP) values
• Data likelihood of observed variables
• Samples from posterior
• Use graph structure to do computations
  efficiently
• Example compute posterior marginal p(x2 x5X5)

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Finding marginals via Belief Propagation
(aka sum-product other goals have similar
algorithms)
Combine the observations from all nodes in the
graph through a series of local message-passing
operations
neighborhood of node s (adjacent nodes)
message sent from node t to node s (sufficient
statistic of ts knowledge about s)
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BP Message Updates
I. Message Product Multiply incoming messages
(from all nodes but s) with the local observation
to form a distribution over
II. Message Propagation Transform distribution
from node t to node s using the pairwise
interaction potential
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Example sequential estimation

• Well-known example
• Markov Chain
• Jointly Gaussian uncertainty
• Gives integrals a simple, closed form
• Optimal inference (in many senses) given by
  Kalman filter
• Convert large (T) problem to collection of
  smaller problems
• exact non-Gaussian particle ensemble
  filtering extensions
• Same general results hold for any tree-structured
  graph
• Partial elimination ordering of nodes
• Complexity limited by dimension of
• each variable

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Exact estimation in non-trees

• Often our variables arent so well-behaved
• May be able to convert using variable
  augmentation
• Often the case in Bayesian parameter estimation
• Treat parameters as variables, include them in
  the graph
• (increases nonlinearities!)
• But, dimensionality problem
• Computation increases (maybe a lot!)
• Jointly Gaussian, d3
• Otherwise often exponential in d
• Can trade off graph complexity with
  dimensionality

a
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Example rainfall data

• 41 stations in India
• Rainfall occurrence
• amounts for 30 years
• Some stations/days missing
• Tasks
• Impute missing entries
• Simulate realistic rainfall
• Short term predictions
• Cant deal with joint distribution too large to
  even manipulate
• Conditional independence structure?
• Unlikely to be tree-structured

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Example rainfall data

• True relationships
• not tree-like at all
• High tree-width
• Need some approximations
• Approximate model,
• exact inference
• Correct model,
• approximate inference
• Even harder
• May get multiple observation
• modalities (satellite data, etc.)
• Have own statistical structure
• relationships to stations

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Example rainfall data

• Consider a single time-slice
• Option 1 mixtures of trees
• Add hidden variable indicating which of several
  trees
• (Generally) marginalize over this variable
• Option 2 use loopy graph, ignore loops in
  inference
• Utility depends on task
• Works well for filling in missing data
• Perhaps less well for other tasks

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Multi-scale models

• Another example of graph structure
• Efficient computation if tree-structured
• Again, dont really believe any particular tree
• Perhaps average over (use mixture of) several
• (see e.g. Willsky 2002)
• (also w/ loops,
• similar to multi-grid)

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Summary

• Explicit structure among variables
• Prior knowledge / learned from data
• Structure organizes computation, suggests
  approximations
• Can provide computational efficiency
• (often naïve distribution too large to represent
  / estimate)
• Offers some choice
• Where to put the complexity?
• Simple graph structure with high-dimensional
  variables
• Complex graph structure with more manageable
  variables
• Approximate structure, exact computations
• Improved structures, approximate computations