An improved resampling approach for particle filters in tracking
conference contributionposted on 27.03.2019, 11:05 by Abdullahi Daniyan, Yu GongYu Gong, Sangarapillai LambotharanSangarapillai Lambotharan
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.
This work was supported by the Engineering and Physical Sciences Research Council (EPSRC) Grant number EP/K014307/1, the MOD University Defence Research Collaboration (UDRC) in Signal Processing, UK and the Petroleum Technology Development Fund (PTDF), Nigeria.
- Mechanical, Electrical and Manufacturing Engineering