“…Minimizing the trace of the covariance matrix of the estimates, this formalism allows us to sequentially obtain the conditional expectation of the system state variables t = [ x t ∣ y 0 , y 1 ,…, y t ] in time, given the noisy observations in the framework of an affine measurement equation y t = C t x t + v t , where C t relates the system state to the measurements and v t ∼ (0, Obviously, for such a Gaussian dynamic system, Kalman filter (KF) is an optimal estimator as the conditional expectation, and the associated covariance can fully explain the entire probabilistic structure of the system. Replacing the notion of time with scale, the original idea of the linear estimation of temporal Gauss‐Markov systems was further expanded by Chou et al [1994] to the optimal estimation of multiresolution auto‐regressive (MAR) Gaussian processes [e.g., Luettgen et al , 1993; Daniel and Willsky , 1999; Willsky , 2002]. In MAR representation, a multiresolution process is naturally defined on a treelike graph structure (see Figure 4), where each node s ∈ on the tree is a 3‐tuple which indicates the signal quantity x ( s ) in a specific translational offset and scale level: In this coarse‐to‐fine multiresolution dynamics, s denotes the parent node of s , A ( s ) is the transition matrix and w ( s ) ∼ (0, Σ w ( s ) ) is a Gaussian white noise.…”