Mmse Estimation
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Transcript of Mmse Estimation
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10 - 1 MMSE Estimation S. Lall, Stanford 2011.02.02.01
10 - MMSE Estimation
Estimation given a pdf
Minimizing the mean square error
The minimum mean square error (MMSE) estimator
The MMSE and the mean-variance decomposition
Example: uniform pdf on the triangle
Example: uniform pdf on an L-shaped region
Example: Gaussian
Posterior covariance
Bias
Estimating a linear function of the unknown MMSE and MAP estimation
10 - 2 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Estimation given a PDF
Suppose x: Rn is a random variable with pdfpx.
One can predictorestimatethe outcome as follows
Givencost function c: Rn Rn R
pickestimatexto minimize E c(x,x)
We will look at the cost function
c(x,x) = kx xk2
Then themean square error(MSE) is
Ekx xk2
=
Z kx xk2px(x) dx
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10 - 3 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Minimizing the MSE
Lets find the minimum mean-square error (MMSE) estimate ofx; we need to solve
minx
Ekx xk2
We have
Ekx xk2
= E
(x x)T(x x)
= E
xTx 2xTx + xTx
= Ekxk2 2xTE x+ xTx
Differentiating with respect to xgives the optimal estimate
xmmse= Ex
10 - 4 MMSE Estimation S. Lall, Stanford 2011.02.02.01
The MMSE estimate
The minimum mean-square error estimate ofxis
xmmse= Ex
Its mean square error is
E
kx xmmsek
2
= trace cov(x)
since Ekx xmmsek
2
= Ekx Exk2
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10 - 5 MMSE Estimation S. Lall, Stanford 2011.02.02.01
The mean-variance decomposition
We can interpret this via the MVD. For any random variable z, we have
Ekzk2
= E
kz E zk2
+ kE zk2
Applying this to z=x xgives
Ekx xk2
= E
kx E xk2
+ kx Exk2
The first term is thevarianceofx; it is the error wecannot remove
The second term is the biasofx; the best we can do is make this zero.
!2 !1 0 1 2!3
!2
!1
0
1
2
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10 - 6 MMSE Estimation S. Lall, Stanford 2011.02.02.01
The estimation problem
Suppose x, y are random variables, with joint pdfp(x, y).
We measure y=ymeas.
We would like to find the MMSE estimate ofxgiveny = ymeas.
Theestimatoris a function : Rm Rn.
We measure y = ymeas, and estimate xby xest= (ymeas)
We would like to find the function which minimizes the cost function
J= Ek(y) xk2
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10 - 7 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Notation
Well use the following notation.
py is themarginalor inducedpdf ofy
py(y) = Z p(x, y) dx
p|y is the pdfconditionedon y
p|y(x, y) =p(x, y)
py(y)
10 - 8 MMSE Estimation S. Lall, Stanford 2011.02.02.01
The MMSE estimator
Themean-square-error conditioned on y is econd(y), given by
econd(y) =
Z k(y) xk2p|y(x, y) dx
Then the mean square error J is given by
J= E
econd(y)
because
J=
Z Z k(y) xk2p(x, y) dxdy
=
Z py(y) econd(y) dy
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10 - 9 MMSE Estimation S. Lall, Stanford 2011.02.02.01
The MMSE estimator
We can write the MSE conditioned on y as
econd(ymeas) = Ek(y) xk2 | y=ymeas
For eachymeas, we can pick a value for (ymeas)
So we have an MMSE prediction problem for each ymeas
10 - 10 MMSE Estimation S. Lall, Stanford 2011.02.02.01
The MMSE estimator
Apply the MVD to z=(y) xconditioned on y=w to give
econd(w) = Ek(y) xk2 | y=w
= E
kx h(w)k2 | y= w
+ k(w) h(w)k2
whereh(w) is the mean ofxconditioned ony = w
h(w) = E(x | y=w)
To minimizeecond(w)we therefore pick
(w) =h(w)
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10 - 11 MMSE Estimation S. Lall, Stanford 2011.02.02.01
The error of the MMSE estimator
With this choice of estimator
econd(w) = Ekx h(w)k2 | y = w
= trace cov(x | y = w)
10 - 12 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Summary: the MMSE estimator
The MMSE estimator is
mmse(ymeas) = E(x | y = ymeas)
econd(ymeas) = trace cov(x | y = ymeas)
We often write
xmmse= mmse(ymeas) econd(ymeas) = Ekx xmmsek
2 y=ymeas
The estimate only depends on the conditional pdfofx | y = ymeas
The means and covariance are those of theconditional pdf
The above formulae give the MMSE estimate for any pdfonxand y
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0 0.5 1
0
0.5
1
10 - 13 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Example: MMSE estimation
(x, y)are uniformly distributed on the triangle A.i.e., the pdf is
p(x, y) =
(2 if(x, y) A
0 otherwise
the conditional distribution ofx | y = ymeasis uniform on[ymeas, 1]
the MMSE estimator ofx given y = ymeas is
xmmse= E(x | y = ymeas) =1 + ymeas
2
the conditional mean square error of this estimate is
Ekx xmmsek
2 y = ymeas= 1
12(ymeas 1)
2
0 0.5 1
0
0.5
1
10 - 14 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Example: MMSE estimation
The mean square error is
Ekmmse(y) xk
2
= E
econd(y)
=Z 1
x=0
Z xy=0p(x, y) econd(y) dy dx
=
Z 1
x=0
Z xy=0
1
6(y 1)2 dy dx
= 1
24
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0 0.5 1
0
0.5
1
10 - 15 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Example: MMSE estimation
(x, y)are uniformly distributed on the L-shapedregionA, i.e., the pdf is
p(x, y) =
(4
3 if(x, y) A
0 otherwise
the MMSE estimator ofx given y = ymeas is
xmmse= E(x | y = ymeas) =
(1
2 if0 ymeas
1
2
3
4 if 1
2< ymeas 1
the mean square error of this estimate is
Ekx xmmsek
2 y=ymeas=
( 1
12 if0 ymeas
1
2
1
48 if 1
2< ymeas 1
0 0.5 1
0
0.5
1
10 - 16 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Example: MMSE estimation
The mean square error is
Ekmmse(y) xk
2
= E
econd(y)
=Z
Ap(x, y) econd(y) dy dx
=
Z 1
x=0
Z 12
y=0
1
12p(x, y) dy dx+
Z 1
x=12
Z 12
y=12
1
48p(x, y) dy dx
= 1
16
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!3 !2 !1 0 1 2 30
0.05
0.1
0.15
0.2
0.25
0.3
0.35
!3 !2 !1 0 1 2 3!3
!2
!1
0
1
2
3
10 - 17 MMSE Estimation S. Lall, Stanford 2011.02.02.01
MMSE estimation for Gaussians
Suppose
xy
N(,)where
= xy = x xy
Txy y
We know that the conditional density ofx | y = ymeas isN(1, 1)where
1= x+ xy1y (ymeas y)
1= x xy1y
Txy
10 - 18 MMSE Estimation S. Lall, Stanford 2011.02.02.01
MMSE estimation for Gaussians
The MMSE estimator when x, y are jointly Gaussian is
mmse(ymeas) =x+ xy1y (ymeas y)
econd(ymeas) = tracex xy
1y
Txy
The conditional MSE econd(y)is independent ofy; a special property of Gaussians
Hence the optimum MSE achieved is
Ekmmse(y) xk
2
= tracex xy
1y
Txy
The estimate xmmse is an affine function ofymeas
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10 - 19 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Posterior covariance
Lets look at the error z= (y) x. We have
cov(z | y = ymeas) = cov
x| y= ymeas
We use this to find a confidence region for the estimate
cov(x| y=ymeas
is called theposterior covariance
!3 !2 !1 0 1 2 3
!3
!2
!1
0
1
2
3
10 - 20 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Example: MMSE for Gaussians
Here
xy
N(0,)with =
2.8 2.42.4 3
We measureymeas= 2
and the MMSE estimator is
mmse(ymeas) = 12122
ymeas
= 0.8ymeas= 1.6
The posterior covariance is Q = x xy1y yx = 0.88
Let 2 =QF12
(0.9), then 1.54and the confidence interval is
Prob
|x 1.6|
y = ymeas
= 0.9
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10 - 21 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Bias
The MMSE estimator is unbiased; that is the mean erroris zero.
Emmse(y) x
= 0
10 - 22 MMSE Estimation S. Lall, Stanford 2011.02.02.01
Estimating a linear function of the unknown
Suppose
p(x, y) is a pdf on x, y
q= C xis a random variable
we measure y and would like to estimate q
The optimal estimator is
qmmse= CE
x| y=ymeas
Because E
q| y = ymeas
= CE
x| y = ymeas
The optimal estimate ofCx is Cmultiplied by the optimal estimate ofx
Only works forlinear functionsofx
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!3 !2 !1 0 1 2 3!3
!2
!1
0
1
2
3
10 - 23 MMSE Estimation S. Lall, Stanford 2011.02.02.01
MMSE and MAP estimation
Suppose xand y are random variables, with joint pdff(x, y)
Themaximum a posterior (MAP) estimate is the xthat maximizes
h(x, ymeas) = conditional pdf ofx | (y=ymeas)
The MAP estimate also maximizes the joint pdf
xmap= arg maxx
f(x, ymeas)
Whenx, y are jointly Gaussian, then the peak of
the conditional pdf is the conditional mean.
i.e., for Gaussians, the MMSE estimate is equalto the MAP estimate.