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Generalized Division-Free Architecture and Compact Memory Structure for Resampling in Particle Filters
Linköpings universitet, Institutionen för systemteknik, Datorteknik. Linköpings universitet, Tekniska fakulteten.ORCID-id: 0000-0002-1509-9678
Linköpings universitet, Institutionen för systemteknik, Datorteknik. Linköpings universitet, Tekniska fakulteten.ORCID-id: 0000-0003-3470-3911
2015 (engelsk)Inngår i: 2015 European Conference on Circuit Theory and Design (ECCTD), IEEE Press, 2015, s. 416-419Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The most challenging step of implementing particle filtering is the resampling step which replicates particles with large weights and discards those with small weights. In this paper, we propose a generic architecture for resampling which uses double multipliers to avoid normalization divisions and make the architecture  equally efficient for non-powers-of-two number of particles. Furthermore, the complexity of resampling is greatly affected by the size of memories used to store weights. We illustrate that by storing the original weights instead of their cumulative sum and calculating them online reduces the total complexity, in terms of area, ranging from 21% to 45%, while giving up to 50% reduction in memory usage.

sted, utgiver, år, opplag, sider
IEEE Press, 2015. s. 416-419
Emneord [en]
Particle filter, Resampling, Division-Free, Multinomial
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-122182DOI: 10.1109/ECCTD.2015.7300060ISI: 000380498200042OAI: oai:DiVA.org:liu-122182DiVA, id: diva2:862758
Konferanse
European Conference on Circuit Theory and Design (ECCTD)
Prosjekter
Parallel Architectures for Sampling Based Nonlinear Filters
Forskningsfinansiär
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 3.5Tilgjengelig fra: 2015-10-23 Laget: 2015-10-23 Sist oppdatert: 2016-09-25bibliografisk kontrollert

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Alam, Syed AsadGustafsson, Oscar

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