Expectation Maximization algorithm to obtain Gaussian mixture models for ROS
I found a really good code at GitHub for fitting a Gaussian Mixture Model (GMM) with Expectation Maximization (EM) for ROS. There are so many parameters that you can change. Some of the most important ones are:
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// minimum number of gaussians #define PARAM_NAME_GAUSSIAN_COUNT_MIN "gaussian_count_min" #define PARAM_DEFAULT_GAUSSIAN_COUNT_MIN 1 // search will terminate when the gaussian count reaches this #define PARAM_NAME_GAUSSIAN_COUNT_MAX "gaussian_count_max" #define PARAM_DEFAULT_GAUSSIAN_COUNT_MAX 10 |
To find the optimal number of components, it uses Bayesian information criterion (BIC). There are other methods to find […]
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