%0 Conference Paper %A Daniyan, Abdullahi %A Gong, Yu %A Lambotharan, Sangarapillai %D 2019 %T An improved resampling approach for particle filters in tracking %U https://repository.lboro.ac.uk/articles/conference_contribution/An_improved_resampling_approach_for_particle_filters_in_tracking/9220436 %2 https://repository.lboro.ac.uk/ndownloader/files/16797629 %K Resampling %K Particle filters %K Sequential Monte Carlo (SMC) methods %K Systematic resampling %K Mechanical Engineering not elsewhere classified %X Resampling is an essential step in particle filtering (PF) methods in order to avoid degeneracy. Systematic resampling is one of a number of resampling techniques commonly used due to some of its desirable properties such as ease of implementation and low computational complexity. However, it has a tendency of resampling very low weight particles especially when a large number of resampled particles are required which may affect state estimation. In this paper, we propose an improved version of the systematic resampling technique which addresses this problem and demonstrate performance improvement. %I Loughborough University