Commit b0cfc8c5 authored by Sylvain CALINON's avatar Sylvain CALINON

Udpated reference

parent a260f1c0
function demo_DPMeans_Online01
%Online clustering with DP-Means algorithm
% Online clustering with DP-Means algorithm
%
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% @article{Bruno16AURO,
% author="Bruno, D. and Calinon, S. and Caldwell, D. G.",
% title="Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot",
% journal="Autonomous Robots",
% year="2016",
% volume="",
% number="",
% pages="",
% doi="10.1007/s10514-016-9544-6",
% @article{Bruno17AURO,
% author="Bruno, D. and Calinon, S. and Caldwell, D. G.",
% title="Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot",
% journal="Autonomous Robots",
% year="2017",
% month="February",
% volume="41",
% number="2",
% pages="333--347",
% doi="10.1007/s10514-016-9544-6"
% }
%
% Written by Danilo Bruno and Sylvain Calinon, 2015
......@@ -44,6 +45,7 @@ runningFlag = 0;
N = 0;
lambda = 0.04;
%% Online GMM parameters estimation
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fig = figure('position',[10 10 700 700]); hold on; box on; axis off;
......
function [ model,N ] = OnlineEMDP( N,P,MinSigma,model,lambda )
%Online clustering with DP Means
%This function updates a Gaussian Mixture Model by using an extended version of DPMEANS algorithm.
%
%Author: Danilo Bruno, 2015
%
%Refs:
%for DPMEANS :
%Kulis, B. and Jordan, M. I. (2012). Revisiting k-means: New algorithms via bayesian nonparametrics. In Proc. Intl Conf. on Machine Learning (ICML), Edimburgh (UK).
%for MAP update of GMM:
%Gauvain, J.-L. and Lee, C.-H. (1994). Maximum a posteriori estimation for multivariate gaussian mixture observations of markov chians. IEE Transactions on Speech and Audio Processing, 2(2):291–298.
%
%Variables:
%N: current number of points processed
%P: current point
%MinSigma : minimum covariance for regularization
%model : GMM model containing
% model.Mu : Mean
% model.Sigma : Covariance
% model.Priors : Priors
%lambda : splitting distance
% Online clustering with DP Means
% This function updates a Gaussian Mixture Model by using an extended version of DPMEANS algorithm.
%
% Variables
% N: current number of points processed
% P: current point
% MinSigma : minimum covariance for regularization
% model : GMM model containing
% model.Mu : Mean
% model.Sigma : Covariance
% model.Priors : Priors
% lambda : splitting distance
%
% Ref for DPMEANS :
% Kulis, B. and Jordan, M. I. (2012). Revisiting k-means: New algorithms via bayesian nonparametrics. In Proc. Intl Conf. on Machine Learning (ICML), Edimburgh (UK).
% Ref for MAP update of GMM:
% Gauvain, J.-L. and Lee, C.-H. (1994). Maximum a posteriori estimation for multivariate gaussian mixture observations of markov chians. IEE Transactions on Speech and Audio Processing, 2(2):291–298.
%
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% @article{Bruno16AURO,
% author="Bruno, D. and Calinon, S. and Caldwell, D. G.",
% title="Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot",
% journal="Autonomous Robots",
% year="2016",
% volume="",
% number="",
% pages="",
% doi="10.1007/s10514-016-9544-6",
% @article{Bruno17AURO,
% author="Bruno, D. and Calinon, S. and Caldwell, D. G.",
% title="Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot",
% journal="Autonomous Robots",
% year="2017",
% month="February",
% volume="41",
% number="2",
% pages="333--347",
% doi="10.1007/s10514-016-9544-6"
% }
%
% Written by Danilo Bruno, 2015
% Written by Danilo Bruno and Sylvain Calinon, 2015
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
......@@ -52,6 +50,7 @@ function [ model,N ] = OnlineEMDP( N,P,MinSigma,model,lambda )
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
if N == 0 %if no point exists, create gmm with current point
nbVar = size(P,1);
Mu = P;
......
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