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Complexity Analysis of the Marginalized Particle Filter
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2005 (English)Report (Other academic)
Abstract [en]

In this paper the computational complexity of the marginalized particle lter is analyzed. We introduce an equivalent flop measure to capture floating-point operations as well as other features, which cannot be measured using flops, such as the complexity in generating random numbers and performing the resampling. From the analysis we conclude how to partition the estimation problem in an optimal way for some common target tracking models. Some guidelines on how to increase performance based on the analysis is also given. In an extensive Monte Carlo simulation we study different computational aspects and compare with theoretical results.

Place, publisher, year, edition, pages
Linköping: Linköping University , 2005. , 7 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2680
Keyword [en]
Nonlinear estimation, Marginalized particle filter, Rao-Blackwellization, Kalman filter, Complexity analysis, Equivalent
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56017ISRN: LiTH-ISY-R-2680OAI: oai:DiVA.org:liu-56017DiVA: diva2:316714
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-13Bibliographically approved

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Karlsson, RickardSchön, ThomasGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf