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This article proposed a simple and effective methodology for improving diversity of samples in Particle Filter (PF). The motivation lies in the situation that resampling procedure which aims for amending particle degeneracy always leads to particle depletion and less diversity of particles has severe consequence on the filter estimation accuracy. Various resample approaches have been developed in...
The ability to simultaneously locate a robot and accurately map its surroundings is considered to be a key prerequisite of truly autonomous robots. Rao-Blackwellized particle filters simultaneous localization and mapping can produce accurate results but it has the tendency to become over-confident. In this paper, the analysis on consistency is presented. The methodology of the Markov Chain Monte Carlo...
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