High-throughput scalable parallel resampling mechanism for effective redistribution of particles

A novel resampling mechanism for parallel processing of fixed-point particle filtering is discussed. The proposed mechanism utilizes a particle-tagging scheme during quantization to compensate possible loss of replicated particles due to the finite precision effect. Particle tagging divides replicated particles into two groups for systematic redistribution of particles to eliminate particle localization in parallel processing. The mechanism utilizes an efficient interconnect topology for guaranteeing complete redistribution of particles even in case of potential weight unbalance among processing elements. The proposed architecture supports high throughput and ensures that the overall parallel particle filtering execution time scales with the number of processing elements employed.