Cs221 Linear Algebra
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CS221: Introduction to Arti cial Intelligence
Carlos Fernandez-Granda
10/11/2011
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Index
Vectors Matrices Matrix Decompositions Application : Image Compression
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Vectors
Vectors Matrices Matrix Decompositions Application : Image Compression
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Vectors
What is a vector ?
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Vectors
What is a vector ?
An ordered tuple of numbers :
u u u=
1 2
. . .
un
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Vectors
What is a vector ?
An ordered tuple of numbers :
u u u=
1 2
. . .
un
A quantity that has a magnitude and a direction.
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Vectors
Vector spaces
More formally a vector is an element of a vector space.
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Vectors
Vector spaces
More formally a vector is an element of a vector space. A vector space V is a set that contains all linear combinations of its elements :
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Vectors
Vector spaces
More formally a vector is an element of a vector space. A vector space V is a set that contains all linear combinations of its elements :
If vectors u and v V , then u + v V .
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Vectors
Vector spaces
More formally a vector is an element of a vector space. A vector space V is a set that contains all linear combinations of its elements :
If vectors u and v V , then u + v V . If vector u V , then u V for any scalar .
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Vectors
Vector spaces
More formally a vector is an element of a vector space. A vector space V is a set that contains all linear combinations of its elements :
If vectors u and v V , then u + v V . If vector u V , then u V for any scalar . There exists 0 V such that u + 0 = u for any u V .
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Vectors
Vector spaces
More formally a vector is an element of a vector space. A vector space V is a set that contains all linear combinations of its elements :
A subspace is a subset of a vector space that is also a vector space.
If vectors u and v V , then u + v V . If vector u V , then u V for any scalar . There exists 0 V such that u + 0 = u for any u V .
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Vectors
Examples
Euclidean space Rn .
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Vectors
Examples
Euclidean space Rn .
The span of any set of vectors {u1 , u2 , . . . , un }, de ned as : span (u1 , u2 , . . . , un ) = {1 u1 + 2 u2 + + n un | i R}
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Vectors
Subspaces
A line through the origin in Rn (span of a vector).
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Vectors
Subspaces
A line through the origin in Rn (span of a vector).
A plane in Rn (span of two vectors).
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Vectors
Linear Independence and Basis of Vector Spaces
A vector u is linearly independent of a set of vectors {u1 , u2 , . . . , un } if it does not lie in their span.
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Vectors
Linear Independence and Basis of Vector Spaces
A vector u is linearly independent of a set of vectors {u1 , u2 , . . . , un } if it does not lie in their span. A set of vectors is linearly independent if every vector is linearly independent of the rest.
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Vectors
Linear Independence and Basis of Vector Spaces
A vector u is linearly independent of a set of vectors {u1 , u2 , . . . , un } if it does not lie in their span. A set of vectors is linearly independent if every vector is linearly independent of the rest. A basis of a vector space V is a linearly independent set of vectors whose span is equal to V .
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Vectors
Linear Independence and Basis of Vector Spaces
A vector u is linearly independent of a set of vectors {u1 , u2 , . . . , un } if it does not lie in their span. A set of vectors is linearly independent if every vector is linearly independent of the rest. A basis of a vector space V is a linearly independent set of vectors whose span is equal to V . If a vector space has a basis with d vectors, its dimension is d.
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Vectors
Linear Independence and Basis of Vector Spaces
A vector u is linearly independent of a set of vectors {u1 , u2 , . . . , un } if it does not lie in their span. A set of vectors is linearly independent if every vector is linearly independent of the rest. A basis of a vector space V is a linearly independent set of vectors whose span is equal to V . If a vector space has a basis with d vectors, its dimension is d. Any other basis of the same space will consist of exactly d vectors.
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Vectors
Linear Independence and Basis of Vector Spaces
A vector u is linearly independent of a set of vectors {u1 , u2 , . . . , un } if it does not lie in their span. A set of vectors is linearly independent if every vector is linearly independent of the rest. A basis of a vector space V is a linearly independent set of vectors whose span is equal to V . If a vector space has a basis with d vectors, its dimension is d. Any other basis of the same space will consist of exactly d vectors. The dimension of a vector space can be in nite (function spaces).
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Vectors
Norm of a Vector
A norm ||u|| measures the magnitude of a vector.
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Vectors
Norm of a Vector
A norm ||u|| measures the magnitude of a vector. Mathematically, any function from the vector space to R that satis es :
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Vectors
Norm of a Vector
A norm ||u|| measures the magnitude of a vector. Mathematically, any function from the vector space to R that satis es :
Homogeneity || u|| = || ||u||
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Vectors
Norm of a Vector
A norm ||u|| measures the magnitude of a vector. Mathematically, any function from the vector space to R that satis es :
Homogeneity || u|| = || ||u|| Triangle inequality ||u + v|| ||u|| + ||v||
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Vectors
Norm of a Vector
A norm ||u|| measures the magnitude of a vector. Mathematically, any function from the vector space to R that satis es :
Homogeneity || u|| = || ||u|| Triangle inequality ||u + v|| ||u|| + ||v|| Point separation ||u|| = 0 if and only if u = 0.
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Vectors
Norm of a Vector
A norm ||u|| measures the magnitude of a vector. Mathematically, any function from the vector space to R that satis es :
Examples :
Homogeneity || u|| = || ||u|| Triangle inequality ||u + v|| ||u|| + ||v|| Point separation ||u|| = 0 if and only if u = 0.
i |ui |. 2 i ui .
Manhattan or 1 norm : ||u||1 = Euclidean or 2 norm : ||u||2 =
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Vectors
Inner Product
Inner product between u and v : u, v =
n uv. i =1 i i
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Vectors
Inner Product
Inner product between u and v : u, v = n=1 ui vi . i It is the projection of one vector onto the other.
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Vectors
Inner Product
Inner product between u and v : u, v = n=1 ui vi . i It is the projection of one vector onto the other.
Related to the Euclidean norm : u, u = ||u||2 . 2
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Vectors
Inner Product
The inner product is a measure of correlation between two vectors, scaled by the norms of the vectors :
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Vectors
Inner Product
The inner product is a measure of correlation between two vectors, scaled by the norms of the vectors :
If u, v > 0, u and v are aligned.
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Vectors
Inner Product
The inner product is a measure of correlation between two vectors, scaled by the norms of the vectors :
If u, v > 0, u and v are aligned. If u, v < 0, u and v are opposed.
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Vectors
Inner Product
The inner product is a measure of correlation between two vectors, scaled by the norms of the vectors :
If u, v > 0, u and v are aligned. If u, v < 0, u and v are opposed. If u, v = 0, u and v are orthogonal.
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Vectors
Orthonormal Basis
The vectors in an orthonormal basis have unit Euclidean norm and are orthogonal to each other.
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Vectors
Orthonormal Basis
The vectors in an orthonormal basis have unit Euclidean norm and are orthogonal to each other. To express a vector x in an orthonormal basis, we can just take inner products.
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Vectors
Orthonormal Basis
The vectors in an orthonormal basis have unit Euclidean norm and are orthogonal to each other. To express a vector x in an orthonormal basis, we can just take inner products. Example : x = 1 b1 + 2 b2 .
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Vectors
Orthonormal Basis
The vectors in an orthonormal basis have unit Euclidean norm and are orthogonal to each other. To express a vector x in an orthonormal basis, we can just take inner products. Example : x = 1 b1 + 2 b2 . We compute x, b1 :
x, b1 = 1 b1 + 2 b2 , b1
By linearity. = 1 + 0 By orthonormality.
= 1 b1 , b1 + 2 b2 , b1
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Vectors
Orthonormal Basis
The vectors in an orthonormal basis have unit Euclidean norm and are orthogonal to each other. To express a vector x in an orthonormal basis, we can just take inner products. Example : x = 1 b1 + 2 b2 . We compute x, b1 :
x, b1 = 1 b1 + 2 b2 , b1
By linearity. = 1 + 0 By orthonormality.
= 1 b1 , b1 + 2 b2 , b1
Likewise, 2 = x, b2 .
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Matrices
Vectors Matrices Matrix Decompositions Application : Image Compression
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Matrices
Linear Operator
A linear operator L : U V is a map from a vector space U to another vector space V that satis es :
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Matrices
Linear Operator
A linear operator L : U V is a map from a vector space U to another vector space V that satis es :
L (u1 + u2 ) = L (u1 ) + L (u2 )
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Matrices
Linear Operator
A linear operator L : U V is a map from a vector space U to another vector space V that satis es :
L (u1 + u2 ) = L (u1 ) + L (u2 ) L ( u) = L (u)
. for any scalar .
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Matrices
Linear Operator
A linear operator L : U V is a map from a vector space U to another vector space V that satis es : If the dimension n of U and an m n matrix A.
L (u1 + u2 ) = L (u1 ) + L (u2 ) L ( u) = L (u)
. for any scalar .
A A
m of V are nite, L can be represented by
11 21 12 22
A A A=
Am
Am
... ... ... ...
An A n
1
Amn
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Matrices
Matrix Vector Multiplication
A A Au =
11 21
A A
12 22
Am
Am
... ... ... ...
u An A nu
1 2
1 2
Amn
. . .
v v =
un
2 . . .
vm
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Matrices
Matrix Vector Multiplication
A A Au =
11 21
A A
12 22
Am
Am
... ... ... ...
u An A nu
1 2
1 2
Amn
. . .
v v =
un
2 . . .
vm
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Matrices
Matrix Vector Multiplication
A A Au =
11 21
A A
12 22
Am
Am
... ... ... ...
u An A nu
1 2
1 2
Amn
. . .
v v =
un
2 . . .
vm
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Matrices
Matrix Vector Multiplication
A A Au =
11 21
A A
12 22
Am
Am
... ... ... ...
u An A nu
1 2
1 2
Amn
. . .
v v =
un
2 . . .
vm
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Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
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Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
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Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
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Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
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Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
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Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
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Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
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Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
Linear Algebra Review 10/11/2011 16 / 37
Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
Linear Algebra Review 10/11/2011 16 / 37
Matrices
Matrix Product
Applying two linear operators A and B de nes another linear operator, which can be represented by another matrix AB.
A A AB =
11 21
A A
12 22
Am Am AB AB AB AB =
1 2 11 21
... ... ... ...
12 22
B An B A n
1 2
1 2
11 21
B B
12 22
ABm
ABm
... ...
Amn Bn . . . AB p . . . AB p ABmp
Bn
... ... ... ...
Bp B p
1 2
Bnp
Note that if A is
CS221
m n and B is n p, then AB is m p.
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Matrices
Transpose of a Matrix
The transpose of a matrix is obtained by ipping the rows and columns. A11 A21 . . . An1 A12 A22 . . . An2 AT =
... A1m A2m . . .
Anm
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Matrices
Transpose of a Matrix
The transpose of a matrix is obtained by ipping the rows and columns. A11 A21 . . . An1 A12 A22 . . . An2 AT =
... A1m A2m . . .
Anm
Some simple properties :
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Matrices
Transpose of a Matrix
The transpose of a matrix is obtained by ipping the rows and columns. A11 A21 . . . An1 A12 A22 . . . An2 AT =
... A1m A2m . . .
Anm
Some simple properties :
AT
T
=A
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Matrices
Transpose of a Matrix
The transpose of a matrix is obtained by ipping the rows and columns. A11 A21 . . . An1 A12 A22 . . . An2 AT =
... A1m A2m . . .
Anm
Some simple properties :
T AT = A T (A + B) = AT + BT
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Matrices
Transpose of a Matrix
The transpose of a matrix is obtained by ipping the rows and columns. A11 A21 . . . An1 A12 A22 . . . An2 AT =
... A1m A2m . . .
Anm
Some simple properties :
T AT = A T (A + B) = AT + BT T (AB) = BT AT
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Matrices
Transpose of a Matrix
The transpose of a matrix is obtained by ipping the rows and columns. A11 A21 . . . An1 A12 A22 . . . An2 AT =
... A1m A2m . . .
Anm
Some simple properties :
The inner product for vectors can be represented as u, v = uT v.
T AT = A T (A + B) = AT + BT T (AB) = BT AT
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Matrices
Identity Operator
I=
1 0 ... 0 1 . . .
... 0 0 ...
0 0
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Matrices
Identity Operator
I=
1 0 ... 0 1 . . .
... 0 0 ...
0 0
For any matrix A, AI = A.
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Matrices
Identity Operator
I=
1 0 ... 0 1 . . .
... 0 0 ...
0 0
For any matrix A, AI = A. I is the identity operator for the matrix product.
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
:
Column space
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
:
Column space
Span of the columns of A.
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
:
Column space
Span of the columns of A. Linear subspace of Rm .
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
:
Column space
Span of the columns of A. Linear subspace of Rm .
:
Row space
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
:
Column space
Span of the columns of A. Linear subspace of Rm .
:
Row space
Span of the rows of A.
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
:
Column space
Span of the columns of A. Linear subspace of Rm .
:
Row space
Span of the rows of A. Linear subspace of Rn .
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
:
Column space
Span of the columns of A. Linear subspace of Rm .
:
Row space
Span of the rows of A. Linear subspace of Rn .
Important fact :
The column and row spaces of any matrix have the same dimension.
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Matrices
Column Space, Row Space and Rank
Let A be an
m n matrix.
:
Column space
Span of the columns of A. Linear subspace of Rm .
:
Row space
Span of the rows of A. Linear subspace of Rn .
Important fact :
The column and row spaces of any matrix have the same dimension. This dimension is the rank of the matrix.
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Matrices
Range and Null space
Let A be an
m n matrix.
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Matrices
Range and Null space
Let A be an Range :
m n matrix.
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Matrices
Range and Null space
Let A be an Range :
m n matrix.
Set of vectors equal to Au for some u Rn .
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Matrices
Range and Null space
Let A be an Range :
m n matrix.
Set of vectors equal to Au for some u Rn . Linear subspace of Rm .
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Matrices
Range and Null space
Let A be an Range :
Null space
m n matrix.
Set of vectors equal to Au for some u Rn . Linear subspace of Rm .
:
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Matrices
Range and Null space
Let A be an Range :
Null space
m n matrix.
Set of vectors equal to Au for some u Rn . Linear subspace of Rm . belongs to the null space if Au = 0.
:
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Matrices
Range and Null space
Let A be an Range :
Null space
m n matrix.
Set of vectors equal to Au for some u Rn . Linear subspace of Rm .
:
belongs to the null space if Au = 0. Subspace of Rn .
u
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Matrices
Range and Null space
Let A be an Range :
Null space
m n matrix.
Set of vectors equal to Au for some u Rn . Linear subspace of Rm .
:
belongs to the null space if Au = 0. Subspace of Rn . Every vector in the null space is orthogonal to the rows of A. The null space and row space of a matrix are orthogonal.
u
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Matrices
Range and Column Space
Another interpretation of the matrix vector product (Ai is column i of A) :
Au =
A1
A2
...
An
u u
2 . . .
= u1 A1 + u2 A2 + + un An
un
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Linear Algebra Review
10/11/2011
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Matrices
Range and Column Space
Another interpretation of the matrix vector product (Ai is column i of A) :
Au =
A1
A2
...
An
u u
2 . . .
= u1 A1 + u2 A2 + + un An
un
The result is a linear combination of the columns of A.
CS221
Linear Algebra Review
10/11/2011
21 / 37
Matrices
Range and Column Space
Another interpretation of the matrix vector product (Ai is column i of A) :
Au =
A1
A2
...
An
u u
2 . . .
= u1 A1 + u2 A2 + + un An
un
The result is a linear combination of the columns of A. For any matrix, the range is equal to the column space.
CS221
Linear Algebra Review
10/11/2011
21 / 37
Matrices
Matrix Inverse
For an
n n matrix A : rank + dim(null space) = n.
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Linear Algebra Review
10/11/2011
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Matrices
Matrix Inverse
For an n n matrix A : rank + dim(null space) = n. If dim(null space)=0 then A is full rank.
CS221
Linear Algebra Review
10/11/2011
22 / 37
Matrices
Matrix Inverse
For an n n matrix A : rank + dim(null space) = n. If dim(null space)=0 then A is full rank. In this case, the action of the matrix is invertible.
CS221
Linear Algebra Review
10/11/2011
22 / 37
Matrices
Matrix Inverse
For an n n matrix A : rank + dim(null space) = n. If dim(null space)=0 then A is full rank. In this case, the action of the matrix is invertible. The inversion is also linear and consequently can be represented by another matrix A1 .
CS221
Linear Algebra Review
10/11/2011
22 / 37
Matrices
Matrix Inverse
For an n n matrix A : rank + dim(null space) = n. If dim(null space)=0 then A is full rank. In this case, the action of the matrix is invertible. The inversion is also linear and consequently can be represented by another matrix A1 . A1 is the only matrix such that A1 A = AA1 = I.
CS221
Linear Algebra Review
10/11/2011
22 / 37
Matrices
Orthogonal Matrices
An orthogonal matrix U satis es UT U = I.
CS221
Linear Algebra Review
10/11/2011
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Matrices
Orthogonal Matrices
An orthogonal matrix U satis es UT U = I. Equivalently, U has orthonormal columns.
CS221
Linear Algebra Review
10/11/2011
23 / 37
Matrices
Orthogonal Matrices
An orthogonal matrix U satis es UT U = I. Equivalently, U has orthonormal columns. Applying an orthogonal matrix to two vectors does not change their inner product :
Uu, Uv = (Uu) Uv
= uT UT Uv = uT v = u, v
CS221
Linear Algebra Review
10/11/2011
23 / 37
Matrices
Orthogonal Matrices
An orthogonal matrix U satis es UT U = I. Equivalently, U has orthonormal columns. Applying an orthogonal matrix to two vectors does not change their inner product :
Uu, Uv = (Uu) Uv
= uT UT Uv = uT v = u, v
Example : Matrices that represent rotations are orthogonal.
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Linear Algebra Review
10/11/2011
23 / 37
Matrices
Trace and Determinant
The trace is the sum of the diagonal elements of a square matrix.
CS221
Linear Algebra Review
10/11/2011
24 / 37
Matrices
Trace and Determinant
The trace is the sum of the diagonal elements of a square matrix. The determinant of a square matrix A is denoted by |A|.
CS221
Linear Algebra Review
10/11/2011
24 / 37
Matrices
Trace and Determinant
The trace is the sum of the diagonal elements of a square matrix. The determinant of a square matrix A is denoted by |A|. ab For a 2 2 matrix A = c d :
CS221
Linear Algebra Review
10/11/2011
24 / 37
Matrices
Trace and Determinant
The trace is the sum of the diagonal elements of a square matrix. The determinant of a square matrix A is denoted by |A|. ab For a 2 2 matrix A = c d :
|A| = ad bc
CS221
Linear Algebra Review
10/11/2011
24 / 37
Matrices
Trace and Determinant
The trace is the sum of the diagonal elements of a square matrix. The determinant of a square matrix A is denoted by |A|. ab For a 2 2 matrix A = c d :
|A| = ad bc
The absolute value of |A| is the area of the parallelogram given by the rows of A.
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Linear Algebra Review
10/11/2011
24 / 37
Matrices
Properties of the Determinant
The de nition can be generalized to larger matrices.
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Linear Algebra Review
10/11/2011
25 / 37
Matrices
Properties of the Determinant
The de nition can be generalized to larger matrices. |A| = AT .
CS221
Linear Algebra Review
10/11/2011
25 / 37
Matrices
Properties of the Determinant
The de nition can be generalized to larger matrices. |A| = AT .
|AB| = |A| |B|
CS221
Linear Algebra Review
10/11/2011
25 / 37
Matrices
Properties of the Determinant
The de nition can be generalized to larger matrices. |A| = AT .
|AB| = |A| |B| |A| = 0 if and only if A is not invertible.
CS221
Linear Algebra Review
10/11/2011
25 / 37
Matrices
Properties of the Determinant
The de nition can be generalized to larger matrices. |A| = AT .
|AB| = |A| |B| |A| = 0 if and only if A is not invertible.
If A is invertible, then A1 =
|A | .
1
CS221
Linear Algebra Review
10/11/2011
25 / 37
Matrix Decompositions
Vectors Matrices Matrix Decompositions Application : Image Compression
CS221
Linear Algebra Review
10/11/2011
26 / 37
Matrix Decompositions
Eigenvalues and Eigenvectors
An eigenvalue of a square matrix A satis es :
Au = u
for some vector u, which we call an eigenvector.
CS221
Linear Algebra Review
10/11/2011
27 / 37
Matrix Decompositions
Eigenvalues and Eigenvectors
An eigenvalue of a square matrix A satis es :
Au = u
for some vector u, which we call an eigenvector. Geometrically, the operator A expands ( > 1) or contracts ( < 1) eigenvectors but does not rotate them.
CS221
Linear Algebra Review
10/11/2011
27 / 37
Matrix Decompositions
Eigenvalues and Eigenvectors
An eigenvalue of a square matrix A satis es :
Au = u
for some vector u, which we call an eigenvector. Geometrically, the operator A expands ( > 1) or contracts ( < 1) eigenvectors but does not rotate them. If u is an eigenvector of A, it is in the null space of A I, which is consequently not invertible.
CS221
Linear Algebra Review
10/11/2011
27 / 37
Matrix Decompositions
Eigenvalues and Eigenvectors
An eigenvalue of a square matrix A satis es :
Au = u
for some vector u, which we call an eigenvector. Geometrically, the operator A expands ( > 1) or contracts ( < 1) eigenvectors but does not rotate them. If u is an eigenvector of A, it is in the null space of A I, which is consequently not invertible. The eigenvalues of A are the roots of the equation |A I| = 0.
CS221
Linear Algebra Review
10/11/2011
27 / 37
Matrix Decompositions
Eigenvalues and Eigenvectors
An eigenvalue of a square matrix A satis es :
Au = u
for some vector u, which we call an eigenvector. Geometrically, the operator A expands ( > 1) or contracts ( < 1) eigenvectors but does not rotate them. If u is an eigenvector of A, it is in the null space of A I, which is consequently not invertible. The eigenvalues of A are the roots of the equation |A I| = 0. Not the way eigenvalues are calculated in practice.
CS221
Linear Algebra Review
10/11/2011
27 / 37
Matrix Decompositions
Eigenvalues and Eigenvectors
An eigenvalue of a square matrix A satis es :
Au = u
for some vector u, which we call an eigenvector. Geometrically, the operator A expands ( > 1) or contracts ( < 1) eigenvectors but does not rotate them. If u is an eigenvector of A, it is in the null space of A I, which is consequently not invertible. The eigenvalues of A are the roots of the equation |A I| = 0. Not the way eigenvalues are calculated in practice. Eigenvalues and eigenvectors can be complex valued, even if all the entries of A are real.
CS221 Linear Algebra Review 10/11/2011 27 / 37
Matrix Decompositions
Eigendecomposition of a Matrix
Let A be an n n square matrix with n linearly independent eigenvectors p1 . . . pn and eigenvalues 1 . . . n .
CS221
Linear Algebra Review
10/11/2011
28 / 37
Matrix Decompositions
Eigendecomposition of a Matrix
Let A be an n n square matrix with n linearly independent eigenvectors p1 . . . pn and eigenvalues 1 . . . n . We de ne the matrices :
P= p1 . . . pn
1 0 . . . 0 2 . . . = ... 0 0 ...
0 0
n
CS221
Linear Algebra Review
10/11/2011
28 / 37
Matrix Decompositions
Eigendecomposition of a Matrix
Let A be an n n square matrix with n linearly independent eigenvectors p1 . . . pn and eigenvalues 1 . . . n . We de ne the matrices :
P= p1 . . . pn
1 0 . . . 0 2 . . . = ... 0 0 ...
A
0 0
n
satis es AP = P.
CS221
Linear Algebra Review
10/11/2011
28 / 37
Matrix Decompositions
Eigendecomposition of a Matrix
Let A be an n n square matrix with n linearly independent eigenvectors p1 . . . pn and eigenvalues 1 . . . n . We de ne the matrices :
P= p1 . . . pn
1 0 . . . 0 2 . . . = ... 0 0 ...
A P
0 0
n
satis es AP = P. is full rank. Inverting it yields the eigendecomposition of A :
A = P P 1
CS221
Linear Algebra Review
10/11/2011
28 / 37
Matrix Decompositions
Properties of the Eigendecomposition
Not all matrices are diagonalizable (have an eigendecomposition). Example : ( 1 1 ). 0 1
CS221
Linear Algebra Review
10/11/2011
29 / 37
Matrix Decompositions
Properties of the Eigendecomposition
Not all matrices are diagonalizable (have an eigendecomposition). Example : ( 1 1 ). 0 1 Trace(A) = Trace() = n=1 i . i
CS221
Linear Algebra Review
10/11/2011
29 / 37
Matrix Decompositions
Properties of the Eigendecomposition
Not all matrices are diagonalizable (have an eigendecomposition). Example : ( 1 1 ). 0 1 Trace(A) = Trace() = n=1 i . i |A| = || = n=1 i . i
CS221
Linear Algebra Review
10/11/2011
29 / 37
Matrix Decompositions
Properties of the Eigendecomposition
Not all matrices are diagonalizable (have an eigendecomposition). Example : ( 1 1 ). 0 1 Trace(A) = Trace() = n=1 i . i |A| = || = n=1 i . i The rank of A is equal to the number of nonzero eigenvalues.
CS221
Linear Algebra Review
10/11/2011
29 / 37
Matrix Decompositions
Properties of the Eigendecomposition
Not all matrices are diagonalizable (have an eigendecomposition). Example : ( 1 1 ). 0 1 Trace(A) = Trace() = n=1 i . i |A| = || = n=1 i . i The rank of A is equal to the number of nonzero eigenvalues. 1 If is a nonzero eigenvalue of A, is an eigenvalue of A1 with the same eigenvector.
CS221
Linear Algebra Review
10/11/2011
29 / 37
Matrix Decompositions
Properties of the Eigendecomposition
Not all matrices are diagonalizable (have an eigendecomposition). Example : ( 1 1 ). 0 1 Trace(A) = Trace() = n=1 i . i |A| = || = n=1 i . i The rank of A is equal to the number of nonzero eigenvalues. 1 If is a nonzero eigenvalue of A, is an eigenvalue of A1 with the same eigenvector. The eigendecomposition makes it possible to compute matrix powers e ciently : m Am = PP1 = PP1 PP1 . . . PP1 = Pm P1 .
CS221
Linear Algebra Review
10/11/2011
29 / 37
Matrix Decompositions
Matlab Example
CS221
Linear Algebra Review
10/11/2011
30 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
If A = AT then A is symmetric.
CS221
Linear Algebra Review
10/11/2011
31 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
If A = AT then A is symmetric. The eigenvalues of symmetric matrices are real.
CS221
Linear Algebra Review
10/11/2011
31 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
If A = AT then A is symmetric. The eigenvalues of symmetric matrices are real. The eigenvectors of symmetric matrices are orthonormal.
CS221
Linear Algebra Review
10/11/2011
31 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
If A = AT then A is symmetric. The eigenvalues of symmetric matrices are real. The eigenvectors of symmetric matrices are orthonormal. Consequently, the eigendecomposition becomes : A = UUT for real and U orthogonal.
CS221
Linear Algebra Review
10/11/2011
31 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
If A = AT then A is symmetric. The eigenvalues of symmetric matrices are real. The eigenvectors of symmetric matrices are orthonormal. Consequently, the eigendecomposition becomes : A = UUT for real and U orthogonal. The eigenvectors of A are an orthonormal basis for the column space (and the row space, since they are equal).
CS221
Linear Algebra Review
10/11/2011
31 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
The action of a symmetric matrix on a vector Au = UUT u can be decomposed into :
CS221
Linear Algebra Review
10/11/2011
32 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
The action of a symmetric matrix on a vector Au = UUT u can be decomposed into :
1
Projection of u onto the column space of A (multiplication by UT ).
CS221
Linear Algebra Review
10/11/2011
32 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
The action of a symmetric matrix on a vector Au = UUT u can be decomposed into :
1 2
Projection of u onto the column space of A (multiplication by UT ). Scaling of each coe cient Ui , u by the corresponding eigenvalue (multiplication by ).
CS221
Linear Algebra Review
10/11/2011
32 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
The action of a symmetric matrix on a vector Au = UUT u can be decomposed into :
1 2 3
Projection of u onto the column space of A (multiplication by UT ). Scaling of each coe cient Ui , u by the corresponding eigenvalue (multiplication by ). Linear combination of the eigenvectors scaled by the resulting coe cient (multiplication by U).
CS221
Linear Algebra Review
10/11/2011
32 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
The action of a symmetric matrix on a vector Au = UUT u can be decomposed into :
1 2 3
Summarizing :
Projection of u onto the column space of A (multiplication by UT ). Scaling of each coe cient Ui , u by the corresponding eigenvalue (multiplication by ). Linear combination of the eigenvectors scaled by the resulting coe cient (multiplication by U).
n
Au =
i =1
i Ui , u Ui
CS221
Linear Algebra Review
10/11/2011
32 / 37
Matrix Decompositions
Eigendecomposition of a Symmetric Matrix
The action of a symmetric matrix on a vector Au = UUT u can be decomposed into :
1 2 3
Summarizing :
Projection of u onto the column space of A (multiplication by UT ). Scaling of each coe cient Ui , u by the corresponding eigenvalue (multiplication by ). Linear combination of the eigenvectors scaled by the resulting coe cient (multiplication by U).
n
Au =
i Ui , u Ui i =1 It would be great to generalize this to all matrices...
CS221
Linear Algebra Review
10/11/2011
32 / 37
Matrix Decompositions
Singular Value Decomposition
Every
matrix has a singular value decomposition :
A = UVT
CS221
Linear Algebra Review
10/11/2011
33 / 37
Matrix Decompositions
Singular Value Decomposition
Every
matrix has a singular value decomposition :
A = UVT
A.
The columns of U are an orthonormal basis for the column space of
CS221
Linear Algebra Review
10/11/2011
33 / 37
Matrix Decompositions
Singular Value Decomposition
Every
matrix has a singular value decomposition :
A = UVT
A.
The columns of U are an orthonormal basis for the column space of The columns of V are an orthonormal basis for the row space of A.
CS221
Linear Algebra Review
10/11/2011
33 / 37
Matrix Decompositions
Singular Value Decomposition
Every
matrix has a singular value decomposition :
A = UVT
A.
The columns of U are an orthonormal basis for the column space of The columns of V are an orthonormal basis for the row space of A. is diagonal. The entries on its diagonal i = ii are positive real numbers, called the singular values of A.
CS221
Linear Algebra Review
10/11/2011
33 / 37
Matrix Decompositions
Singular Value Decomposition
Every
matrix has a singular value decomposition :
A = UVT
A.
The columns of U are an orthonormal basis for the column space of The columns of V are an orthonormal basis for the row space of A. is diagonal. The entries on its diagonal i = ii are positive real numbers, called the singular values of A. The action of A on a vector u can be decomposed into :
n
Au =
i =1
i Vi , u Ui
CS221
Linear Algebra Review
10/11/2011
33 / 37
Matrix Decompositions
Properties of the Singular Value Decomposition
The eigenvalues of the symmetric matrix AT A are equal to the square of the singular values of A :
AT A = VUT UVT = V2 VT
CS221
Linear Algebra Review
10/11/2011
34 / 37
Matrix Decompositions
Properties of the Singular Value Decomposition
The eigenvalues of the symmetric matrix AT A are equal to the square of the singular values of A :
AT A = VUT UVT = V2 VT
The rank of a matrix is equal to the number of nonzero singular values.
CS221
Linear Algebra Review
10/11/2011
34 / 37
Matrix Decompositions
Properties of the Singular Value Decomposition
The eigenvalues of the symmetric matrix AT A are equal to the square of the singular values of A :
AT A = VUT UVT = V2 VT
The rank of a matrix is equal to the number of nonzero singular values. The largest singular value 1 is the solution to the optimization problem :
1 = max
x=0
||Ax||2 ||x||2
CS221
Linear Algebra Review
10/11/2011
34 / 37
Matrix Decompositions
Properties of the Singular Value Decomposition
The eigenvalues of the symmetric matrix AT A are equal to the square of the singular values of A :
AT A = VUT UVT = V2 VT
The rank of a matrix is equal to the number of nonzero singular values. The largest singular value 1 is the solution to the optimization problem :
1 = max
x=0
||Ax||2 ||x||2
It can be veri ed that the largest singular value satis es the properties of a norm, it is called the spectral norm of the matrix.
CS221
Linear Algebra Review
10/11/2011
34 / 37
Matrix Decompositions
Properties of the Singular Value Decomposition
The eigenvalues of the symmetric matrix AT A are equal to the square of the singular values of A :
AT A = VUT UVT = V2 VT
The rank of a matrix is equal to the number of nonzero singular values. The largest singular value 1 is the solution to the optimization problem :
1 = max
x=0
||Ax||2 ||x||2
It can be veri ed that the largest singular value satis es the properties of a norm, it is called the spectral norm of the matrix. In statistics analyzing data with the singular value decomposition is called Principal Component Analysis.
CS221 Linear Algebra Review 10/11/2011 34 / 37
Application : Image Compression
Vectors Matrices Matrix Decompositions Application : Image Compression
CS221
Linear Algebra Review
10/11/2011
35 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
The singular value decomposition can be viewed as a sum of rank 1 matrices :
CS221
Linear Algebra Review
10/11/2011
36 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
The singular value decomposition can be viewed as a sum of rank 1 matrices :
If some of the singular values are very small, we can discard them.
CS221
Linear Algebra Review
10/11/2011
36 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
The singular value decomposition can be viewed as a sum of rank 1 matrices :
If some of the singular values are very small, we can discard them. This is a form of lossy compression.
CS221
Linear Algebra Review
10/11/2011
36 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
Truncating the singular value decomposition allows us to represent the matrix with less parameters.
CS221
Linear Algebra Review
10/11/2011
37 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
Truncating the singular value decomposition allows us to represent the matrix with less parameters.
For a 512 512 matrix :
CS221
Linear Algebra Review
10/11/2011
37 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
Truncating the singular value decomposition allows us to represent the matrix with less parameters.
For a 512 512 matrix :
Full representation : 512 512 =262 144
CS221
Linear Algebra Review
10/11/2011
37 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
Truncating the singular value decomposition allows us to represent the matrix with less parameters.
For a 512 512 matrix :
Full representation : 512 512 =262 144 Rank 10 approximation : 512 10 + 10 + 512 10 =10 250
CS221
Linear Algebra Review
10/11/2011
37 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
Truncating the singular value decomposition allows us to represent the matrix with less parameters.
For a 512 512 matrix :
Full representation : 512 512 =262 144 Rank 10 approximation : 512 10 + 10 + 512 10 =10 250 Rank 40 approximation : 512 40 + 40 + 512 40 =41 000
CS221
Linear Algebra Review
10/11/2011
37 / 37
Application : Image Compression
Compression using the Singular Value Decomposition
Truncating the singular value decomposition allows us to represent the matrix with less parameters.
For a 512 512 matrix :
Full representation : 512 512 =262 144 Rank 10 approximation : 512 10 + 10 + 512 10 =10 250 Rank 40 approximation : 512 40 + 40 + 512 40 =41 000 Rank 80 approximation : 512 80 + 80 + 512 80 =82 000
Linear Algebra Review 10/11/2011 37 / 37
CS221
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