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In this paper, a graphics processor unit (GPU) accelerated particle filtering algorithm is presented with an introduction to a novel resampling technique. The aim remains in the mitigation of particle impoverishment as well as computational burden, problems which are commonly associated with classical (systematic) resampled particle filtering. The proposed algorithm employs a priori-space dependent...
The aim of this paper is to introduce priori sensitive resampling (PSR) based particle filter (PF) for prospective use in dynamic state estimation towards navigation of unmanned underwater vehicles (UUVs). The proposed method targets a common pitfall of conventional resampling based PFs, in the sense that classical resampling is likelihood biased operation which progressively leads to particle impoverishment...
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