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Re:Is the Kalman filter just a low-pass filter? by quietbritishjim on Friday July 29, 2022 @03:16AM (#32273997)
That's the same as the first point in the parent comment's list: a factor graph is a visualisation of the conditional probability distribution. But yes it is very helpful to draw out the factor graph (or Bayesian graph) for the Kalman filter, probably more useful than just writing out the equations.
Re:Is the Kalman filter just a low-pass filter? by quietbritishjim on Friday July 29, 2022 @06:10AM (#32275095)
By the way (as if my original comment above isn't already nitpicky enough, this is even worse...):

It bugs me when people use the word "optimal" in the Gaussian / Bayesian formulation. As the top-level comment above says, if you assume the various prior and conditional distributions are Gaussian then the posterior distribution is Gaussian too. This is not optimal, it's exact, just like you wouldn't say x=2 is optimal solution to x+1=3.

It is the optimal solution in the quadratic optimisation formulation, as the top-level comment also correctly said.

Re:Is the Kalman filter just a low-pass filter? by auxym on Friday July 29, 2022 @08:28AM (#32276035)
I'm not a mathematician at all (mechanical engineer), but to me, "exact" sounds like "deterministic" as an opposition to stochastic.

I though optimal conveyed the idea of "literally the best possible solution but you're still in the presence of a fully random system here".

Which might be the wrong interpretation, but hopefully it explains why some people (who aren't necessarily familiar with rigorous mathematics) use optimal.

Re:Is the Kalman filter just a low-pass filter? by quietbritishjim on Friday July 29, 2022 @09:28AM (#32276558)
I do see your point. But if you're talking about a probability or probability distribution, it can still be an exact solution to a model. For example, if I throw two standard dice, what is the probability of throwing two sixes? The answer is 1/36. To me, it sounds odd to describe 1/36 as the "optimal" solution to that problem, even though it's stochastic. Even "exact" solution is a bit odd, I'll concede, but a lot less so. "The solution" or "the answer", with no more qualification needed, sounds best to me.
Re:Is the Kalman filter just a low-pass filter? by jmalicki on Friday July 29, 2022 @10:56AM (#32277754)
That's a known probability distribution. The optimal is about being the minimum variance unbiased estimator for the unknown probability distribution.
Re:Is the Kalman filter just a low-pass filter? by sudosysgen on Friday July 29, 2022 @10:12AM (#32277164)
1/36 is indeed the most optimal estimator of the expected frequency of two sixes, it's not odd at all.
Re:Is the Kalman filter just a low-pass filter? by jmalicki on Friday July 29, 2022 @12:22PM (#32278888)
1/36 is an estimate, it is not an estimator at all. An estimator is a formula based on data from the rolls.
Re:Is the Kalman filter just a low-pass filter? by sudosysgen on Friday July 29, 2022 @01:24PM (#32279629)
It's an estimator in this case. A fixed number is an estimator too, it's just not going to be desirable in most cases. But single numbers are absolutely and unquestionably also valid estimators.

In any case, what I'm trying to get at there is that in estimator theory there is a concept of optimality for an estimator over a distribution.

Re:Is the Kalman filter just a low-pass filter? by jmalicki on Friday July 29, 2022 @07:15PM (#32282759)
Sure, a single number is a trivial example of a procedure/formula.

But an estimator estimates an unknown parameter from data (or in such a trivial estimator possibly without data) - and I believe this is central to the confusion.