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It is very important to find a criterion when to perform a resampling step. Aimed at this problem, an adaptive resampling algorithm in particle filter based on diversity measures is presented. Based on the analysis and comparison of two diversity measures that are effective sample size (ESS) and population diversity factor (PDF), the resampling algorithm based on ESS is introduced. On the basis of...
Aimed at the deficiency of the resampling algorithm in PF, diversity measures ESS (effective sample size) and PDF (population diversity factor) are evaluated respectively. Combined with the estimation result, diversity measures PDF is used for adaptively tuning the resampling threshold. By integrating the operation of particle mutation after resampling into PF and using the above mechanism of diversity...
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