Translator Disclaimer
Paper
5 May 2011 Particle degeneracy: root cause and solution
Author Affiliations +
Abstract
We have solved the well known and important problem of particle degeneracy for particle filters. Our filter is roughly seven orders of magnitude faster than standard particle filters for the same estimation accuracy. The new filter is four orders of magnitude faster per particle, and it requires roughly three orders of magnitude fewer particles to achieve the same accuracy as a standard particle filter. Typically we beat the EKF or UKF accuracy by approximately two orders of magnitude for difficult nonlinear problems.
© (2011) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Fred Daum and Jim Huang "Particle degeneracy: root cause and solution", Proc. SPIE 8050, Signal Processing, Sensor Fusion, and Target Recognition XX, 80500W (5 May 2011); https://doi.org/10.1117/12.877167
PROCEEDINGS
11 PAGES


SHARE
Advertisement
Advertisement
Back to Top