Nonparametric Density Estimation under Unimodality and Monotonicity Constraints

We introduce a recursive method for estimating a probability density subject to constraints of unimodality or monotonicity. It uses an empirical estimate of the probability transform to construct a sequence of maps of a known template, which satisfies the constraints. The algorithm may be employed without a smoothing step, in which case it produces step-function approximations to the sampling density. More satisfactorily, a certain amount of smoothing may be interleaved between each recursion, in which case the estimate is smooth. The amount of smoothing may be chosen using a standard cross-validation algorithm. Unlike other methods for density estimation, however, the recursive approach is robust against variation of the amount of smoothing, and so choice of bandwidth is not critical.