• DocumentCode
    3705640
  • Title

    Stochastic sampling of the hyperspherical von mises?fisher distribution without rejection methods

  • Author

    Gerhard Kurz;Uwe D. Hanebeck

  • Author_Institution
    Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT), Germany
  • fYear
    2015
  • fDate
    10/1/2015 12:00:00 AM
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    We propose a novel sampling algorithm for the von Mises-Fisher distribution on the unit hypersphere. Unlike previous works, we show a solution for an arbitrary number of dimensions without requiring rejection sampling. As a result, the proposed algorithm has a deterministic runtime. The key idea consists in applying the inversion method to a one-dimensional subproblem and analytically calculating the integral occurring in the distribution function. The proposed method is most efficient for odd numbers of dimensions. We compare the algorithm to a state-of-the-art rejection sampling method in simulations.
  • Keywords
    "Distribution functions","Runtime","Context","Robot sensing systems","Convergence","Symmetric matrices","Sampling methods"
  • Publisher
    ieee
  • Conference_Titel
    Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2015
  • Type

    conf

  • DOI
    10.1109/SDF.2015.7347705
  • Filename
    7347705