%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/