Gaussian distribution resampling algorithm of particle filter

Hyun Duck Choi, Choon Ki Ahn, Myo Taeg Lim

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    This paper proposes a new resampling algorithm - Gaussian distributed resampling (GDR) algorithm - in order to solve particle impoverishment phenomenon in particle filter. The key idea of proposed algorithm generates the new particles based on Gaussian distribution, which depend on the size of weight in resampling process. In comparison with established resampling algorithms, diversity of particles can be maintained, and thus the proposed algorithm avoids the sample impoverishment.

    Original languageEnglish
    Title of host publicationICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
    Pages738-740
    Number of pages3
    DOIs
    Publication statusPublished - 2013
    Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
    Duration: 2013 Oct 202013 Oct 23

    Publication series

    NameInternational Conference on Control, Automation and Systems
    ISSN (Print)1598-7833

    Other

    Other2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
    Country/TerritoryKorea, Republic of
    CityGwangju
    Period13/10/2013/10/23

    Keywords

    • Particle filter
    • State estimation

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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