NDLI: Real-time particle filters

Content Provider	IEEE Xplore Digital Library
Author	KWOK, C. FOX, D. MEILA, M.
Copyright Year	1963
Abstract	Particle filters estimate the state of dynamic systems from sensor information. In many real-time applications of particle filters, however, sensor information arrives at a significantly higher rate than the update rate of the filter. The prevalent approach to dealing with such situations is to update the particle filter as often as possible and to discard sensor information that cannot be processed in time. In this paper we present real-time particle filters, which make use of all sensor information even when the filter update rate is below the update rate of the sensors. This is achieved by representing posteriors as mixtures of sample sets, where each mixture component integrates one observation arriving during a filter update. The weights of the mixture components are set so as to minimize the approximation error introduced by the mixture representation. Thereby, our approach focuses computational resources on valuable sensor information. Experiments using data collected with a mobile robot show that our approach yields strong improvements over other approaches.
Sponsorship	IEEE Publication
Starting Page	469
Ending Page	484
Page Count	16
File Size	1184307
File Format	PDF
ISSN	00189219
Volume Number	92
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-03-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Particle filters State estimation Information filtering Information filters Sampling methods Approximation error Mobile robots Robot localization Particle tracking Sensor systems
Content Type	Text
Resource Type	Article
Subject	Computer Science Electrical and Electronic Engineering

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2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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