An Optimal False Discovery Rate Controlling Procedure for Changepoint Detection

Abstract

We consider the problem of detecting and localizing a growing number of changepoints in a sequence of independent observations. We propose a new method, Lean Bonferroni Detection - False Discovery Rate (LBD-FDR), which produces a set of localized regions in the data sequence where, in expectation, a high proportion of them contain a changepoint. LBD-FDR guarantees control of the false discovery rate in a wide range of distributional settings, including the challenging case of independent non-parametric and heavy-tailed data. For independent Gaussian sequences, we derive conditions on changepoint arrangements where the method consistently detects all changepoints with a large enough signal while simultaneously being unaffected by those that are undetectable, and we show that LBD-FDR obtains the optimal detection constant in certain regimes. Moreover, we derive the settings where our method is more powerful than the minimax optimal Type I error controlling method. We finally develop a computationally feasible algorithm for the LBD-FDR and compare it in simulation to five existing procedures.