Title :
Adaptive resampling in particle filter based on diversity measures
Author :
Yu, Jin-xia ; Liu, Wen-jing ; Tang, Yong-li
Author_Institution :
Coll. of Comput. Sci. & Technol., Henan Polytech. Univ., Jiaozuo, China
Abstract :
It is very important to find a criterion when to perform a resampling step. Aimed at this problem, an adaptive resampling algorithm in particle filter based on diversity measures is presented. Based on the analysis and comparison of two diversity measures that are effective sample size (ESS) and population diversity factor (PDF), the resampling algorithm based on ESS is introduced. On the basis of that, PDF is used for adaptively tuning the resampling threshold. At last, with the simulation program using matlab 7.0 to track a single target motion from a fixed visual observation points, the performance of the proposed algorithm is evaluated and its validity is verified.
Keywords :
particle filtering (numerical methods); signal sampling; adaptive resampling; diversity measures; effective sample size; matlab 7.0; particle filter; population diversity factor; resampling threshold; simulation program; Algorithm design and analysis; Atmospheric measurements; Mathematical model; Particle filters; Particle measurements; Target tracking; Tuning; adaptive resampling; diversity measure; particle filter;
Conference_Titel :
Computer Science and Education (ICCSE), 2010 5th International Conference on
Conference_Location :
Hefei
Print_ISBN :
978-1-4244-6002-1
DOI :
10.1109/ICCSE.2010.5593746
