Applied Technology in Adapting the Number of Particles while Maintaining the Diversity in the Particle Filter

Abstract:

Determining the required number of particles is a challenging task toward the application of particle filters (PF). As smaller number of particles means faster computing speed while larger number of particles means better approximation ability, it is vital to balance the trade-off between computing speed and approximation quality. Moreover, to match the system requirement that often varies in time, the number of particles should be adapted in time. To achieve these, an Adaptive Deterministic Resampling (ADR) is proposed in this paper. The new resampling employs techniques combine Deterministic resampling and Kullback–Leibler Divergence (KLD)-resampling (both with slight changes made) and gain their respective advantages, which not only allow online adaptation of the number of particles according to the system requirement but also guarantee the diversity of particles. Simulation results demonstrate and confirm the validity of our approach.

• Periodical: Advanced Materials Research (Volume 951)
• Pages: 202-207
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.951.202
• Online since: May 2014
• Authors: Rui Rui Zhi, Tian Cheng Li*, Ming Fei Siyau, Shu Dong Sun
• Keywords: Adaptation, Particle Filter, Resampling

References

[1] N. Gordon, D. Salmond, and A. Smith: IEE Proc. F Radar Signal Processing, vol. 140, no. 2, p.107–113, Apr. (1993).

[2] T. Li, T. P. Sattar, S. Sun: Signal Processing, vol. 92, no. 7, pp.1637-1645, July (2012).

[3] T. Li, M. Bolic, and P. Djuric: IEEE Signal Processing Magazine, to appear, preprint is available online: https: /sites. google. com/site/tianchengli85/publications/current-work/preprint.

[4] T. Li, S. Sun, and T. Sattar: Electronics Letters, vol. 46, no. 2, pp.740-742, (2013).

[5] O. Straka, and M. Simandl, In: 15th IFAC Symposium on System Identification, 2009, vol. 15, pp.1358-1363.

[6] D. Koller, and R. Fratkina, In: Proceedings of the Fifteenth International Conference on Machine Learning (ICML-98), Madison, Wisconsin, Jul. 1998, pp.287-295.

[7] O. Straka, and M. Simandl, In: Proceedings of the 16th IFAC symposium on Automatic Control in Aerospace, Saint Petersburg, Russia, 2004, pp.444-449.

[8] F. Legland, and N. Oudjane: Tech. rep., Rapport de recherché 5826, INRIA, (2006).

[9] P. Fearnhead, and Z. Liu: J. R. Stat. Soc. Ser. B, 69(4), 590–605 (2007).

[10] D. Fox: The International Journal of Robotics Research, vol. 22, no. 12, pp.985-1003, (2003).

[11] A. Soto, In: Proceedings of International Joint Conferences on Artificial Intelligence, 2005, pp.1398-1406.

[12] O. Straka, and M. Simandl, In: Proceedings of the 14th IFAC Symposium on System Identification, Newcastle, (2006).

[13] O. Lanz: In 14th International Conference on Image Analysis and Processing, 2007, p.317 – 322.

[14] P. Pan, and D. Schonfeld: IEEE Transactions on circuits and systems for video technology, vol. 18, no. 9, p.1268 – 1279, (2008).

[15] D. Crisan, P. Del Moral, and T. Lyons: Markov Processes and Related Fields, vol. 5, no. 3, p.293–318, (1999).

[16] O. Straka, and M. Simandl, In: Proceedings of the 17th World Congress: The International Federation of Automatic Control Seoul, Korea, July 6-11, 2008, pp.6484-6489.

[17] M. Lei, B. J. van Wyk, and G. Qi, In: Proceedings of the IEEE International Conference on Automation and Logistics, Qingdao, China, Sep. 2008, pp.520-526.

[18] J W. Hassan, N. Bangalore, P. Birch, R. Young, and C. Chatwin: Computer Vision and Image Understanding, vol. 116, pp.1208-1222, (2012).

DOI: 10.1016/j.cviu.2012.09.001

[19] O. Straka, and M. Simandl: Kybernetika, vol. 47, no. 3, pp.385-400, (2011).

[20] T. Li, T. P. Sattar, and S. Sun, Q. Han, In: FUSION 2013, Istanbul Turkey, 9-12 July (2013).

[21] T. Li, S. Sun, and J. Duan, In: 2010 IEEE International Conference on Information and Automation, Harbin, China, 2010, p.1913–(1918).

[22] Y. Boers, In: Proc. IEE Colloquium on Target tracking, London, (1999).

[23] T. Li, S. Sun, S. Si and J. Wang: Robot, 2010, vol. 32, no. 5, pp.674-680.

[24] T. Li, and S. Sun: Acta Automatica Sinica, 2010, vol. 35, no. 9, pp.1279-1286.