Title :
Efficient deterministic dirac mixture approximation of Gaussian distributions
Author :
Gilitschenski, Igor ; Hanebeck, Uwe D.
Author_Institution :
Intell. Sensor-Actuator-Syst. Lab. (ISAS), Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany
Abstract :
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.
Keywords :
Gaussian distribution; Cramer von Mises distance; Dirac components; Gaussian distributions; approximating arbitrary Gaussian densities; cumulative distribution function; deterministic Dirac mixture approximation; localized cumulative distributions; multivariate scenario; probability density; standard normal distribution; Approximation methods; Gaussian distribution; Kernel; Nonlinear dynamical systems; Probability distribution; Standards; Transforms;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580197