On Resampling Algorithms for Particle Filters
2007 (English)Report (Other academic)
In this paper a comparison is made between four frequently encountered resampling algorithms for particle filters. A theoretical framework is introduced to be able to understand and explain the differences between the resampling algorithms. This facilitates a comparison of the algorithms with respect to their resampling quality and computational complexity.Using extensive Monte Carlo simulations the theoretical results are verified. It is found that systematic resampling is favourable, both in terms of resampling quality and computational complexity.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2007. , 7 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2766
Resampling, Particle filter
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-56118ISRN: LiTH-ISY-R-2766OAI: oai:DiVA.org:liu-56118DiVA: diva2:316812