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<p>The relationship between backpropagation and extended Kalman filtering for training multilayer perceptrons is examined. These two techniques are compared theoretically and empirically using sensor imagery. Backpropagation is a technique from neural networks for assigning weights in a multilayer perceptron. An extended Kalman filter can also be used for this purpose. A brief review of the multilayer perceptron and these two training methods is provided. Then, it is shown that backpropagation is a degenerate form of the extended Kalman filter. The training rules are compared in two examples: an image classification problem using laser radar Doppler imagery and a target detection problem using absolute range images. In both examples, the backpropagation training algorithm is shown to be three orders of magnitude less costly than the extended Kalman filter algorithm in terms of a number of floating-point operations.</p>
backpropagation; extended Kalman filter; training; multilayer perceptrons; sensor imagery; neural networks; image classification; laser radar Doppler imagery; target detection; absolute range images; Kalman filters; neural nets; pattern recognition

P. Maybeck, M. Kabrisky, D. Ruck, S. Rogers and M. Oxley, "Comparative Analysis of Backpropagation and the Extended Kalman Filter for Training Multilayer Perceptrons," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 14, no. , pp. 686-691, 1992.
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