Many different simulation methods for Stokes flow problems involve a common computationally intense task -- the summation of a kernel function over $O(N^2)$ pairs of points. One popular technique is the Kernel Independent Fast Multipole Method (KIFMM), which constructs a spatial adaptive octree for all points and places a small number of equivalent multipole and local equivalent points around each octree box, and completes the kernel sum with $O(N)$ cost, using these equivalent points. Simpler kernels can be used between these equivalent points to improve the efficiency of KIFMM. Here we present further extensions and applications to this idea, to enable efficient summations and flexible boundary conditions for various kernels. We call our method the Kernel Aggregated Fast Multipole Method (KAFMM), because it uses different kernel functions at different stages of octree traversal. We have implemented our method as an open-source software library STKFMM based on the high performance library PVFMM, with support for Laplace kernels, the Stokeslet, regularized Stokeslet, Rotne-Prager-Yamakawa (RPY) tensor, and the Stokes double-layer and traction operators. Open and periodic boundary conditions are supported for all kernels, and the no-slip wall boundary condition is supported for the Stokeslet and RPY tensor. The package is designed to be ready-to-use as well as being readily extensible to additional kernels.
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The matrix normal model, the family of Gaussian matrix-variate distributions whose covariance matrix is the Kronecker product of two lower dimensional factors, is frequently used to model matrix-variate data. The tensor normal model generalizes this family to Kronecker products of three or more factors. We study the estimation of the Kronecker factors of the covariance matrix in the matrix and tensor models. We show nonasymptotic bounds for the error achieved by the maximum likelihood estimator (MLE) in several natural metrics. In contrast to existing bounds, our results do not rely on the factors being well-conditioned or sparse. For the matrix normal model, all our bounds are minimax optimal up to logarithmic factors, and for the tensor normal model our bound for the largest factor and overall covariance matrix are minimax optimal up to constant factors provided there are enough samples for any estimator to obtain constant Frobenius error. In the same regimes as our sample complexity bounds, we show that an iterative procedure to compute the MLE known as the flip-flop algorithm converges linearly with high probability. Our main tool is geodesic strong convexity in the geometry on positive-definite matrices induced by the Fisher information metric. This strong convexity is determined by the expansion of certain random quantum channels. We also provide numerical evidence that combining the flip-flop algorithm with a simple shrinkage estimator can improve performance in the undersampled regime.
We develop a new robust geographically weighted regression method in the presence of outliers. We embed the standard geographically weighted regression in robust objective function based on $\gamma$-divergence. A novel feature of the proposed approach is that two tuning parameters that control robustness and spatial smoothness are automatically tuned in a data-dependent manner. Further, the proposed method can produce robust standard error estimates of the robust estimator and give us a reasonable quantity for local outlier detection. We demonstrate that the proposed method is superior to the existing robust version of geographically weighted regression through simulation and data analysis.
Finding a suitable density function is essential for density-based clustering algorithms such as DBSCAN and DPC. A naive density corresponding to the indicator function of a unit $d$-dimensional Euclidean ball is commonly used in these algorithms. Such density suffers from capturing local features in complex datasets. To tackle this issue, we propose a new kernel diffusion density function, which is adaptive to data of varying local distributional characteristics and smoothness. Furthermore, we develop a surrogate that can be efficiently computed in linear time and space and prove that it is asymptotically equivalent to the kernel diffusion density function. Extensive empirical experiments on benchmark and large-scale face image datasets show that the proposed approach not only achieves a significant improvement over classic density-based clustering algorithms but also outperforms the state-of-the-art face clustering methods by a large margin.
In nature and engineering world, the acquired signals are usually affected by multiple complicated factors and appear as multicomponent nonstationary modes. In such and many other situations, it is necessary to separate these signals into a finite number of monocomponents to represent the intrinsic modes and underlying dynamics implicated in the source signals. In this paper, we consider the mode retrieval of a multicomponent signal which has crossing instantaneous frequencies (IFs), meaning that some of the components of the signal overlap in the time-frequency domain. We use the chirplet transform (CT) to represent a multicomponent signal in the three-dimensional space of time, frequency and chirp rate and introduce a CT-based signal separation scheme (CT3S) to retrieve modes. In addition, we analyze the error bounds for IF estimation and component recovery with this scheme. We also propose a matched-filter along certain specific time-frequency lines with respect to the chirp rate to make nonstationary signals be further separated and more concentrated in the three-dimensional space of CT. Furthermore, based on the approximation of source signals with linear chirps at any local time, we propose an innovative signal reconstruction algorithm, called the group filter-matched CT3S (GFCT3S), which also takes a group of components into consideration simultaneously. GFCT3S is suitable for signals with crossing IFs. It also decreases component recovery errors when the IFs curves of different components are not crossover, but fast-varying and close to one and other. Numerical experiments on synthetic and real signals show our method is more accurate and consistent in signal separation than the empirical mode decomposition, synchrosqueezing transform, and other approaches
We develop an algorithm that computes strongly continuous semigroups on infinite-dimensional Hilbert spaces with explicit error control. Given a generator $A$, a time $t>0$, an arbitrary initial vector $u_0$ and an error tolerance $\epsilon>0$, the algorithm computes $\exp(tA)u_0$ with error bounded by $\epsilon$. The algorithm is based on a combination of a regularized functional calculus, suitable contour quadrature rules, and the adaptive computation of resolvents in infinite dimensions. As a particular case, we show that it is possible, even when only allowing pointwise evaluation of coefficients, to compute, with error control, semigroups on the unbounded domain $L^2(\mathbb{R}^d)$ that are generated by partial differential operators with polynomially bounded coefficients of locally bounded total variation. For analytic semigroups (and more general Laplace transform inversion), we provide a quadrature rule whose error decreases like $\exp(-cN/\log(N))$ for $N$ quadrature points, that remains stable as $N\rightarrow\infty$, and which is also suitable for infinite-dimensional operators. Numerical examples are given, including: Schr\"odinger and wave equations on the aperiodic Ammann--Beenker tiling, complex perturbed fractional diffusion equations on $L^2(\mathbb{R})$, and damped Euler--Bernoulli beam equations.
This paper proves the global convergence of a triangularized orthogonalization-free method (TriOFM). TriOFM, in general, applies a triangularization idea to the gradient of an objective function and removes the rotation invariance in minimizers. More precisely, in this paper, the TriOFM works as an eigensolver for sizeable sparse matrices and obtains eigenvectors without any orthogonalization step. Due to the triangularization, the iteration is a discrete-time flow in a non-conservative vector field. The global convergence relies on the stable manifold theorem, whereas the convergence to stationary points is proved in detail in this paper. We provide two proofs inspired by the noisy power method and the noisy optimization method, respectively.
In recent years finite tensor products of reproducing kernel Hilbert spaces (RKHSs) of Gaussian kernels on the one hand and of Hermite spaces on the other hand have been considered in tractability analysis of multivariate problems. In the present paper we study countably infinite tensor products for both types of spaces. We show that the incomplete tensor product in the sense of von Neumann may be identified with an RKHS whose domain is a proper subset of the sequence space $\mathbb{R}^\mathbb{N}$. Moreover, we show that each tensor product of spaces of Gaussian kernels having square-summable shape parameters is isometrically isomorphic to a tensor product of Hermite spaces; the corresponding isomorphism is given explicitly, respects point evaluations, and is also an $L^2$-isometry. This result directly transfers to the case of finite tensor products. Furthermore, we provide regularity results for Hermite spaces of functions of a single variable.
With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware failure and performance degradation intermittently, we present a multi-LiDAR integration scheme in this article. Our framework tightly couples multiple non-repetitive scanning LiDARs with inertial, encoder, and global navigation satellite system (GNSS) into pose estimation and simultaneous global map generation. Primarily, we formulate a precise synchronization strategy to integrate isolated sensors, and the extracted feature points from separate LiDARs are merged into a single sweep. The fused scans are introduced to compute the scan-matching correspondences, which can be further refined by additional real-time kinematic (RTK) measurements. Based thereupon, we construct a factor graph along with the inertial preintegration result, estimated ground constraints, and RTK data. For the purpose of maintaining a restricted number of poses for estimation, we deploy a keyframe based sliding-window optimization strategy in our system. The real-time performance is guaranteed with multi-threaded computation, and extensive experiments are conducted in challenging scenarios. Experimental results show that the utilization of multiple LiDARs boosts the system performance in both robustness and accuracy.
We show that the output of a (residual) convolutional neural network (CNN) with an appropriate prior over the weights and biases is a Gaussian process (GP) in the limit of infinitely many convolutional filters, extending similar results for dense networks. For a CNN, the equivalent kernel can be computed exactly and, unlike "deep kernels", has very few parameters: only the hyperparameters of the original CNN. Further, we show that this kernel has two properties that allow it to be computed efficiently; the cost of evaluating the kernel for a pair of images is similar to a single forward pass through the original CNN with only one filter per layer. The kernel equivalent to a 32-layer ResNet obtains 0.84% classification error on MNIST, a new record for GPs with a comparable number of parameters.
We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based cost functions are commonly optimized using first-order gradient descent techniques, we systematically derive a Gauss-Newton optimization scheme which gives rise to drastically faster convergence and highly accurate and robust tracking performance. We furthermore propose a novel complex dataset dedicated for the task of monocular object pose tracking and make it publicly available to the community. To our knowledge, It is the first to address the common and important scenario in which both the camera as well as the objects are moving simultaneously in cluttered scenes. In numerous experiments - including our own proposed data set - we demonstrate that the proposed Gauss-Newton approach outperforms existing approaches, in particular in the presence of cluttered backgrounds, heterogeneous objects and partial occlusions.
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