Adaptive resampling in particle filter based on diversity measures
Jinxia Yu, Wenjing Liu, Yongli Tang · 2010
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 that, PDF is used for adaptively tuning the resampling threshold. At last, with the simulation program using matlab 7.0 to track a single target motion from a fixed visual observation points, the performance of the proposed algorithm is evaluated and its validity is verified.