Deterministic Sampling of Multivariate Densities based on Projected Cumulative Distributions

We approximate general multivariate probability density functions by deterministic sample sets. For optimal sampling, the closeness to the given continuous density has to be assessed. This is a difficult challenge in multivariate settings. Simple solutions are restricted to the one-dimensional case. In this paper, we propose to employ one-dimensional density projections. These are the Radon transforms of the densities. For every projection, we compute their cumulative distribution function. These Projected Cumulative Distributions (PCDs) are compared for all possible projections (or a discrete set thereof). This leads to a tractable distance measure in multivariate space. The proposed approximation method is efficient as calculating the distance measure mainly entails sorting in one dimension. It is also surprisingly simple to implement.

[1]  Uwe D. Hanebeck,et al.  Greedy algorithms for dirac mixture approximation of arbitrary probability density functions , 2007, 2007 46th IEEE Conference on Decision and Control.

[2]  H. Cramér On the composition of elementary errors: Second paper: Statistical applications , 1928 .

[3]  Uwe D. Hanebeck Kernel-based deterministic blue-noise sampling of arbitrary probability density functions , 2014, 2014 48th Annual Conference on Information Sciences and Systems (CISS).

[4]  Uwe D. Hanebeck,et al.  Dirac mixture approximation of multivariate Gaussian densities , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[5]  M. Stephens EDF Statistics for Goodness of Fit and Some Comparisons , 1974 .

[6]  Uwe D. Hanebeck Sample set design for nonlinear Kalman filters viewed as a moment problem , 2014, 17th International Conference on Information Fusion (FUSION).

[7]  Raanan Fattal Blue-noise point sampling using kernel density model , 2011, SIGGRAPH 2011.

[8]  Simon J. Julier,et al.  The scaled unscented transformation , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[9]  Hugh F. Durrant-Whyte,et al.  A new method for the nonlinear transformation of means and covariances in filters and estimators , 2000, IEEE Trans. Autom. Control..

[10]  Uwe D. Hanebeck,et al.  Localized Cumulative Distributions and a multivariate generalization of the Cramér-von Mises distance , 2008, 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[11]  U.D. Hanebeck,et al.  Recursive Prediction of Stochastic Nonlinear Systems Based on Optimal Dirac Mixture Approximations , 2007, 2007 American Control Conference.

[12]  T. Singh,et al.  The higher order unscented filter , 2003, Proceedings of the 2003 American Control Conference, 2003..

[13]  T. W. Anderson,et al.  Asymptotic Theory of Certain "Goodness of Fit" Criteria Based on Stochastic Processes , 1952 .

[14]  Daniel Frisch,et al.  Geometry-driven Deterministic Sampling for Nonlinear Bingham Filtering , 2019, 2019 18th European Control Conference (ECC).

[15]  J. Peacock Two-dimensional goodness-of-fit testing in astronomy , 1983 .

[16]  O.C. Schrempf,et al.  Density Approximation Based on Dirac Mixtures with Regard to Nonlinear Estimation and Filtering , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[17]  Julien Rabin,et al.  Sliced and Radon Wasserstein Barycenters of Measures , 2014, Journal of Mathematical Imaging and Vision.

[18]  J. Radon On the determination of functions from their integral values along certain manifolds , 1986, IEEE Transactions on Medical Imaging.

[19]  Uwe D. Hanebeck,et al.  Dirac Mixture Density Approximation Based on Minimization of the Weighted Cramer-von Mises Distance , 2006, 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[20]  Marco F. Huber,et al.  Gaussian Filter based on Deterministic Sampling for High Quality Nonlinear Estimation , 2008 .

[21]  F. Massey The Kolmogorov-Smirnov Test for Goodness of Fit , 1951 .

[22]  S. Deans,et al.  The radon transform for higher dimensions. , 1978, Physics in medicine and biology.

[23]  G. Fasano,et al.  A multidimensional version of the Kolmogorov–Smirnov test , 1987 .

[24]  Uwe D. Hanebeck,et al.  The Smart Sampling Kalman Filter with Symmetric Samples , 2015, ArXiv.

[25]  S. Haykin,et al.  Cubature Kalman Filters , 2009, IEEE Transactions on Automatic Control.

[26]  Joris De Schutter,et al.  A The Linear Regression Kalman Filter , 2005 .

[27]  P. Hall,et al.  Amendments and Corrections: A Test for Normality Based on the Empirical Characteristic Function , 1983 .