Gaussian distribution resampling algorithm of particle filter

Hyun Duck Choi, Choon Ki Ahn, Myo Taeg Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a new resampling algorithm - Gaussian distributed resampling (GDR) algorithm - in order to solve particle impoverishment phenomenon in particle filter. The key idea of proposed algorithm generates the new particles based on Gaussian distribution, which depend on the size of weight in resampling process. In comparison with established resampling algorithms, diversity of particles can be maintained, and thus the proposed algorithm avoids the sample impoverishment.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
Pages738-740
Number of pages3
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
Duration: 2013 Oct 202013 Oct 23

Other

Other2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
CountryKorea, Republic of
CityGwangju
Period13/10/2013/10/23

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Keywords

  • Particle filter
  • State estimation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Choi, H. D., Ahn, C. K., & Lim, M. T. (2013). Gaussian distribution resampling algorithm of particle filter. In International Conference on Control, Automation and Systems (pp. 738-740). [6704010] https://doi.org/10.1109/ICCAS.2013.6704010