Engineering topics

Cheeseman, Peter

Publications and source records attributed to Cheeseman, Peter.

22 records · Page 2

NASA NTRS1987

On the representation and estimation of spatial uncertainty

This paper describes a general method for estimating the nominal relationship and expected error (covariance) between coordinate frames representing the relative locations of objects. The frames may be known only indirectly through a series of spatial relationships, each with its associated error, arising from diverse causes, including positioning errors, measurement errors, or tolerances in part dimensions. This estimation method can be used to answer such questions as whether a camera attached to a robot is likely to have a particular reference object in its field of view. The calculated estimates agree well with those from an independent Monte Carlo simulation. The method makes it possible to decide in advance whether an uncertain relationship is known accurately enough for some task and, if not, how much of an improvement in locational knowledge a proposed sensor will provide. The method presented can be generalized to six degrees of freedom and provides a practical means of estimating the relationships (position and orientation) among objects, as well as estimating the uncertainty associated with the relationships.

Smith, Randall C.↗

NASA NTRS1986

Probabilistic versus fuzzy reasoning

This paper shows how to solve problems using probability theory that the fuzzy approaches claim probability cannot solve. By using the view that probabilities are a measure of belief in a proposition in a particular context, limitations imposed by the frequncy interpretations of probability are avoided. The various fuzzy approaches (fuzzy sets, fuzzy logic, possibility theory and higher order generalizations) seem to fill the gap caused by the restricted frequency interpretation. Close examination shows that the fuzzy approaches have exactly the same representation as the corresponding probabilistc approach and include similar calculi. The probabilistic approach assumes less information when the calculi differ.

Cheeseman, Peter↗

NASA NTRS1986

Induction of models under uncertainty

This paper outlines a procedure for performing induction under uncertainty. This procedure uses a probabilistic representation and uses Bayes' theorem to decide between alternative hypotheses (theories). This procedure is illustrated by a robot with no prior world experience performing induction on data it has gathered about the world. The particular inductive problem is the formation of class descriptions both for the tutored and untutored cases. The resulting class definitions are inherently probabilistic and so do not have any sharply defined membership criterion. This robot example raises some fundamental problems about induction; particularly, it is shown that inductively formed theories are not the best way to make predictions. Another difficulty is the need to provide prior probabilities for the set of possible theories. The main criterion for such priors is a pragmatic one aimed at keeping the theory structure as simple as possible, while still reflecting any structure discovered in the data.

Cheeseman, Peter↗

NASA NTRS1986

Automatic discovery of optimal classes

A criterion, based on Bayes' theorem, is described that defines the optimal set of classes (a classification) for a given set of examples. This criterion is transformed into an equivalent minimum message length criterion with an intuitive information interpretation. This criterion does not require that the number of classes be specified in advance, this is determined by the data. The minimum message length criterion includes the message length required to describe the classes, so there is a built in bias against adding new classes unless they lead to a reduction in the message length required to describe the data. Unfortunately, the search space of possible classifications is too large to search exhaustively, so heuristic search methods, such as simulated annealing, are applied. Tutored learning and probabilistic prediction in particular cases are an important indirect result of optimal class discovery. Extensions to the basic class induction program include the ability to combine category and real value data, hierarchical classes, independent classifications and deciding for each class which attributes are relevant.

Cheeseman, Peter↗