Efficient deterministic dirac mixture approximation of Gaussian distributions

We propose an efficient method for approximating arbitrary Gaussian densities by a mixture of Dirac components. This approach is based on the modification of the classical Cramér-von Mises distance, which is adapted to the multivariate scenario by using Localized Cumulative Distributions (LCDs) as a replacement for the cumulative distribution function. LCDs consider the local probabilistic influence of a probability density around a given point. Our modification of the Cramér-von Mises distance can be approximated for certain special cases in closed-form. The created measure is minimized in order to compute the positions of the Dirac components for a standard normal distribution.

[1]  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.

[2]  Charles E. Heckler,et al.  Applied Multivariate Statistical Analysis , 2005, Technometrics.

[3]  Geir Evensen,et al.  The Ensemble Kalman Filter: theoretical formulation and practical implementation , 2003 .

[4]  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.

[5]  Thomas P. Hettmansperger,et al.  Generalised weighted Cramer-von Mises distance estimators , 1997 .

[6]  Uwe D. Hanebeck,et al.  Stochastic nonlinear model predictive control based on progressive density simplification , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[7]  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.

[8]  M. Abramowitz,et al.  Handbook of Mathematical Functions With Formulas, Graphs and Mathematical Tables (National Bureau of Standards Applied Mathematics Series No. 55) , 1965 .

[9]  J. L. Roux An Introduction to the Kalman Filter , 2003 .

[10]  Neil J. Gordon,et al.  A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking , 2002, IEEE Trans. Signal Process..

[11]  T. W. Anderson On the Distribution of the Two-Sample Cramer-von Mises Criterion , 1962 .

[12]  T. Başar,et al.  A New Approach to Linear Filtering and Prediction Problems , 2001 .

[13]  Dennis D. Boos,et al.  Minimum Distance Estimators for Location and Goodness of Fit , 1981 .

[14]  Jeffrey K. Uhlmann,et al.  Unscented filtering and nonlinear estimation , 2004, Proceedings of the IEEE.

[15]  W. Härdle,et al.  Applied Multivariate Statistical Analysis , 2003 .