A deterministic procedure for optimal approximation of arbitrary probability density functions by means of Dirac mixtures with equal weights is proposed. The optimality of this approximation is guaranteed by minimizing the distance of the approximation from the true density. For this purpose a distance measure is required, which is in general not well defined for Dirac mixtures. Hence, a key contribution is to compare the corresponding cumulative distribution functions. This paper concentrates on the simple and intuitive integral quadratic distance measure. For the special case of a Dirac mixture with equally weighted components, closed-form solutions for special types of densities like uniform and Gaussian densities are obtained. Closed-form solution of the given optimization problem is not possible in general. Hence, another key contribution is an efficient solution procedure for arbitrary true densities based on a homotopy continuation approach. In contrast to standard Monte Carlo techniques like particle filters that are based on random sampling, the proposed approach is deterministic and ensures an optimal approximation with ... mehr

Zugehörige Institution(en) am KIT |
Institut für Anthropomatik (IFA) |

Publikationstyp |
Proceedingsbeitrag |

Jahr |
2006 |

Sprache |
Englisch |

Identifikator |
ISBN: 1-4244-0171-2 KITopen-ID: 1000013888 |

Erschienen in |
Proceedings / 45th IEEE Conference on Decision and Control, 2006, 13 - 15 Dec. 2006, San Diego, CA, USA |

Verlag |
IEEE Service Center, Piscataway (NJ) |

Seiten |
1709 - 1714 |

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