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

fYear

2010

fDate

24-27 Aug. 2010

Firstpage

1474

Lastpage

1478

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Education (ICCSE), 2010 5th International Conference on

Conference_Location

Hefei

Print_ISBN

978-1-4244-6002-1

Type

conf

DOI

10.1109/ICCSE.2010.5593746

Filename

5593746