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A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
 Machine Learning
, 1998
"... . This paper addresses the problem of building largescale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximumlikelihood estimation problem. It then devises a practical algorithm for generating the most likely map from ..."
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Cited by 483 (43 self)
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. This paper addresses the problem of building largescale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximumlikelihood estimation problem. It then devises a practical algorithm for generating the most likely map from
A probabilistic approach to concurrent map acquisition and localization for mobile robots
, 1997
"... This paper addresses the problem of building largescale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximumlikelihood estimation problem. It then devises a practical algorithm for generating the most likely map from da ..."
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Cited by 9 (1 self)
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This paper addresses the problem of building largescale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximumlikelihood estimation problem. It then devises a practical algorithm for generating the most likely map from
A Simple, Fast, and Accurate Algorithm to Estimate Large Phylogenies by Maximum Likelihood
, 2003
"... The increase in the number of large data sets and the complexity of current probabilistic sequence evolution models necessitates fast and reliable phylogeny reconstruction methods. We describe a new approach, based on the maximumlikelihood principle, which clearly satisfies these requirements. The ..."
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Cited by 2182 (27 self)
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of the topology and branch lengths, only a few iterations are sufficient to reach an optimum. We used extensive and realistic computer simulations to show that the topological accuracy of this new method is at least as high as that of the existing maximumlikelihood programs and much higher than the performance
Probabilistic Principal Component Analysis
 JOURNAL OF THE ROYAL STATISTICAL SOCIETY, SERIES B
, 1999
"... Principal component analysis (PCA) is a ubiquitous technique for data analysis and processing, but one which is not based upon a probability model. In this paper we demonstrate how the principal axes of a set of observed data vectors may be determined through maximumlikelihood estimation of paramet ..."
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Cited by 709 (5 self)
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Principal component analysis (PCA) is a ubiquitous technique for data analysis and processing, but one which is not based upon a probability model. In this paper we demonstrate how the principal axes of a set of observed data vectors may be determined through maximumlikelihood estimation
A maximum likelihood approach to continuous speech recognition
 IEEE Trans. Pattern Anal. Machine Intell
, 1983
"... AbstractSpeech recognition is formulated as a problem of maximum likelihood decoding. This formulation requires statistical models of the speech production process. In this paper, we describe a number of statistical models for use in speech recognition. We give special attention to determining the ..."
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Cited by 477 (9 self)
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AbstractSpeech recognition is formulated as a problem of maximum likelihood decoding. This formulation requires statistical models of the speech production process. In this paper, we describe a number of statistical models for use in speech recognition. We give special attention to determining
Probabilistic Visual Learning for Object Representation
, 1996
"... We present an unsupervised technique for visual learning which is based on density estimation in highdimensional spaces using an eigenspace decomposition. Two types of density estimates are derived for modeling the training data: a multivariate Gaussian (for unimodal distributions) and a Mixtureof ..."
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Cited by 699 (15 self)
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ofGaussians model (for multimodal distributions). These probability densities are then used to formulate a maximumlikelihood estimation framework for visual search and target detection for automatic object recognition and coding. Our learning technique is applied to the probabilistic visual modeling, detection
A gentle tutorial on the EM algorithm and its application to parameter estimation for gaussian mixture and hidden markov models
, 1997
"... We describe the maximumlikelihood parameter estimation problem and how the Expectationform of the EM algorithm as it is often given in the literature. We then develop the EM parameter estimation procedure for two applications: 1) finding the parameters of a mixture of Gaussian densities, and 2) fi ..."
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Cited by 693 (4 self)
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We describe the maximumlikelihood parameter estimation problem and how the Expectationform of the EM algorithm as it is often given in the literature. We then develop the EM parameter estimation procedure for two applications: 1) finding the parameters of a mixture of Gaussian densities, and 2
Probabilistic PartofSpeech Tagging Using Decision Trees
, 1994
"... In this paper, a new probabilistic tagging method is presented which avoids problems that Markov Model based taggers face, when they have to estimate transition probabilities from sparse data. In this tagging method, transition probabilities are estimated using a decision tree. Based on this method, ..."
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Cited by 1058 (9 self)
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In this paper, a new probabilistic tagging method is presented which avoids problems that Markov Model based taggers face, when they have to estimate transition probabilities from sparse data. In this tagging method, transition probabilities are estimated using a decision tree. Based on this method
A Maximum Entropy approach to Natural Language Processing
 COMPUTATIONAL LINGUISTICS
, 1996
"... The concept of maximum entropy can be traced back along multiple threads to Biblical times. Only recently, however, have computers become powerful enough to permit the widescale application of this concept to real world problems in statistical estimation and pattern recognition. In this paper we des ..."
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Cited by 1366 (5 self)
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describe a method for statistical modeling based on maximum entropy. We present a maximumlikelihood approach for automatically constructing maximum entropy models and describe how to implement this approach efficiently, using as examples several problems in natural language processing.
Approximating discrete probability distributions with dependence trees
 IEEE TRANSACTIONS ON INFORMATION THEORY
, 1968
"... A method is presented to approximate optimally an ndimensional discrete probability distribution by a product of secondorder distributions, or the distribution of the firstorder tree dependence. The problem is to find an optimum set of n1 first order dependence relationship among the n variables ..."
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Cited by 881 (0 self)
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variables. It is shown that the procedure derived in this paper yields an approximation of a minimum difference in information. It is further shown that when this procedure is applied to empirical observations from an unknown distribution of tree dependence, the procedure is the maximumlikelihood estimate
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