Adapting sample size in particle filters through KLD-resampling

Electronics Letters

Volumn 49, Issue 12, 2013, Pages 740-742

  Li, T ^a,b   Sun, S ^a   Sattar, T P ^b  

^a NORTHWESTERN POLYTECHNICAL UNIVERSITY   (China)

^b LONDON SOUTH BANK UNIVERSITY   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE RESAMPLING; DISTRIBUTION OF PARTICLES; ERROR BOUND; KULLBACK-LEIBLER DISTANCE; PARTICLE FILTER; POSTERIOR DISTRIBUTIONS; PROPOSAL DISTRIBUTION; SAMPLE SIZES;

ELECTRONICS ENGINEERING; TECHNOLOGY;

TARGET TRACKING;

EID: 84879755262     PISSN: 00135194     EISSN: None     Source Type: Journal    
DOI: 10.1049/el.2013.0233     Document Type: Article

References (6)

1. Straka, O., and Simandl, M.: 'A survey of sample size adaptation techniques for particle filters'. 15th IFAC Symp. on System Identification, Saint-Malo, France, July 2009, Vol. 15, pp. 1358-1363
2. Cornebise, J., Moulines, É., and Olsson, J.: 'Adaptive methods for sequential importance sampling with application to state space models', Stat. Comput., 2008, 18, (4), pp. 461-480
3. Fox, D.: 'Adapting the sample size in particle filters through KLD-sampling', Int. J. Robot. Res., 2003, 22, (12), pp. 985-1003
4. Kwok, C., Fox, D., and Meila, M.: 'Adaptive real-time particle filters for robot localization'. IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, September 2003, Vol. 2, pp. 2836-2841
5. Soto, A.: 'Self adaptive particle filter'. Proc. Int. Joint Conferences on Artificial Intelligence, Edinburgh, Scotland, July 2005, pp. 1398-1406
6. Li, T., Sattar, T.P., and Sun, S.: 'Deterministic resampling: unbiased sampling to avoid sample impoverishment in particle filters', Signal Process., 2012, 92, (7), pp. 1637-1645