New resampling algorithms for particle filters
New resampling algorithms for particle filters
复制标题
DOI：
10.1109/icassp.2003.1202435
复制
发表时间：
2003-04
期刊：
影响因子：
--
通讯作者：
M. Bolic;P. Djurić;Sangjin Hong
中科院分区：
文献类型：
--
作者：
M. Bolic;P. Djurić;Sangjin Hong
在粒子滤波算法的实现中，恢复是一个非常重要的操作。在并行硬件实现中，由于其顺序性质和增加的复杂性，它强加于所设计的互连网络的流量，resception成为一个瓶颈。为了规避这些困难，我们提出了两个新的reservation算法。第一种方法称为剩余系统恢复，它结合了系统恢复和剩余恢复的优点，适合流水线实现。它还保证了再结晶过程的固定持续时间，而与颗粒的重量分布无关。第二种算法，称为部分重传，具有低复杂度，并减少了通过硬件网络的流量负载。这两个算法也应该被认为是在标准计算机上进行模拟的恢复方法。
Resampling is a critically important operation in the implementation of particle filtering. In parallel hardware implementations, resampling becomes a bottleneck due to its sequential nature and the increased complexity it imposes on the traffic of the designed interconnection network. To circumvent some of these difficulties, we propose two new resampling algorithms. The first one, called residual-systematic resampling, combines the merits of both systematic and residual resampling and is suitable for pipelined implementation. It also guarantees the fixed duration of the resampling procedure irrespective of the weight distribution of the particles. The second algorithm, referred to as partial resampling, has low complexity and reduces traffic load through the hardware network. These two algorithms should also be considered as resampling methods in simulations on standard computers.