A non-Euclidean generalization of conditional expectation is introduced and characterized as the minimizer of expected intrinsic squared-distance from a manifold-valued target. The computational tractable formulation expresses the non-convex optimization problem as transformations of Euclidean conditional expectation. This gives computationally tractable filtering equations for the dynamics of the intrinsic conditional expectation of a manifold-valued signal and is used to obtain accurate numerical forecasts of efficient portfolios by incorporating their geometric structure into the estimates.