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20161127_Japan.R Rでカルマンフィルタ
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tetsuroito
November 27, 2016
Research
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20161127_Japan.R Rでカルマンフィルタ
Japan.RでLTするスライドです
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November 27, 2016
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Transcript
RͰΧϧϚϯϑΟϧλ 201611݄27ɹ Japan.R @Yahoo!Japan
ࣗݾհ ໊લɿҏ౻ ప(@tetsuroito) ۀքɿۚ༥(Fin)ͱ͔ٕज़(Tech)ΒΜ झຯɿञɺαοΧʔ؍ઓɺεΩʔ ۙگɿΞυϕϯτΧϨϯμʔʹΘΕͯΔ ҰݴɿΈΜͳσʔλຽओԽਪਐ͠Α͏
Ϟνϕʔγϣϯ աڈʹTokyo.RͰauto.arimaΛհͨ͠
ҒେͳARIMAϞσϧͷ਼ ɾ͜Ε·Ͱ࠷ීٴͨ࣌͠ܥྻղੳϞσϧ ɾσʔλͷେ༰ྔԽɺଟ༷ԽʹΑΔྼԽ ɾঢ়ଶۭؒϞσϧͷ಄ ɾΧϧϚϯϑΟϧλঢ়ଶۭؒϞσϧͷҰछ ɾARIMAϞσϧΧϧϚϯϑΟϧλͷҰछ
ΧϧϚϯϑΟϧλͱ Ϟσϧͱ แؚؔ ઢܗඇΨε ঢ়ଶۭؒϞσϧ ઢܗΨε ঢ়ଶۭؒϞσϧ ϩʔΧϧ ϨϕϧϞσϧ ղੳख๏
ΧϧϚϯϑΟϧλ Πϯϙʔλϯε αϯϓϦϯά ɾޡࠩͷ͋Δ؍ଌΛ༻͍ͯಈతγεςϜͷ ɹঢ়ଶΛਪఆ·੍ͨޚ͢Δͷ
ϩʔΧϧϨϕϧϞσϧ ࠷جຊతͳঢ়ଶۭؒϞσϧ ୯มྔ࣌ܥྻͷ؍ଌ ਅͷਫ४ ϗϫΠτϊΠζ ঢ়ଶ ؍ଌ֧ཚ߲ ঢ়ଶͷมಈྔ ঢ়ଶ֧ཚ߲ ॳظ࣌ͷঢ়ଶ
i.i.d →؍ଌํఔࣜ →ঢ়ଶํఔࣜ
ϩʔΧϧϨϕϧϞσϧ ࠷جຊతͳঢ়ଶۭؒϞσϧ ୯มྔ࣌ܥྻͷ؍ଌ ਅͷਫ४ ϗϫΠτϊΠζ ঢ়ଶ ؍ଌ֧ཚ߲ ঢ়ଶͷมಈྔ ঢ়ଶ֧ཚ߲ ॳظ࣌ͷঢ়ଶ
i.i.d →؍ଌํఔࣜ →ঢ়ଶํఔࣜ 5͔͠ͳ͍ͷͰɺࠓ͜ͷͰ͢
ঢ়ଶۭؒϞσϧͷେผ ɾ్தͷ࣌t·Ͱͷ؍ଌ ͔Β ɹɹɹΛਪఆ͢ΔͷˠϑΟϧλϦϯά ɾ༩͑ΒΕͨશͯͷ؍ଌɹɹɹɹɹɹɹ͔Β ɹɹɹ Λਪఆ͢ΔͷˠฏԽ ɾকདྷͷঢ়ଶ͓Αͼ؍ଌʹର͢Δ༧ଌ
ܭࢉྔͷ ͜ΕΒͷଟมྔਖ਼نͷ݁Ռʹجͮ͘ ߦྻܭࢉ͔ΒతʹਪఆՄೳ ࣌nͷ૿Ճ → ߦྻܭࢉn^3ʹ૿େ →ͭΒ͗͢Δ ͦ͜ͰΧϧϚϯϑΟϧλͰ͢Α
ΧϧϚϯϑΟϧλ ॳظঢ়ଶɿ { ฏۉ ࢄ ͔Βग़ൃ ֤࣌tʹର͢Δঢ়ଶɹɹͷ 1ظઌ༧ଌ ༧ଌޡࠩࢄ ϑΟϧλԽਪఆྔ
ਪఆޡࠩࢄ { ͜ΕΒΛަޓʹٻΊΔஞ࣍ܭࢉΞϧΰϦζϜ
Rͷύοέʔδ ɾdlmύοέʔδ ɾKFASύοέʔδ ͍ͣΕΫʔϓϚϯΒͷ։ൃͨ͠Cݴޠͷ࣮͕ө͞Ε͍ͯΔ
Rͷύοέʔδ ɾdlmύοέʔδ ɾKFASύοέʔδ ϝϦοτ ɾඇఆৗϞσϧʹ͕༩͑ΒΕΔ ɾAICʹΑΔϞσϧબ͕Մೳ ɾਖ਼نҎ֎͔Βੜ͞Εͨ؍ଌσʔλ ɹΛѻ͑ΔʢΧϯτɺόΠφϦσʔλʣ
Rͷίʔυ-1 ঢ়ଶ֧ཚ߲ࢄ ؍ଌ֧ཚ߲ࢄ ४χϡʔτϯ๏ ࠷దԽ
Rͷίʔυ-2 kfsʹฏԽͷ݁ՌΛ֨ೲ ϑΟϧλԽਪఆྔͷ1ظઌ༧ଌΛࢉग़ ঢ়ଶͷਪఆͱ ৴པ۠ؒΛಘΔҾ ৴པਫ४
Rͷίʔυ-3 gistʹίʔυΛ͍͋͛ͯ·͢ https://gist.github.com/tetsuroito/236aa0d92672c24ea64fd0deb8c0185b
ͬͱΓ͍ͨਓ ڞཱग़൛͔Βग़͍ͯΔΧϧϚϯϑΟϧλຊΛͲ͏ͧ
࠷ޙʹ ZDNetͰ࿈ࡌͬͯ·͢ ࣄۀձࣾͰऔΓΉσʔλੳͷ࣮ࡍ
࠷ޙʹ ZDNetͰ࿈ࡌͬͯ·͢ ࣄۀձࣾͰऔΓΉσʔλੳͷ࣮ࡍ Έͳ͞ΜͷγΣΞɺͯͿɺ͍͍Ͷʂɺ πΠʔτͳͲ͓ͪͯ͠·͢ʂ
͝੩ௌ͋Γ͕ͱ͏ ͍͟͝·ͨ͠ʂ Enjoyʂ