Research on Diversity Measure in Particle Filter

摘要

It is very important to find diversity measure when to perform a resampling step in particle filter. By analyzing the inherent deficiency in resampling algorithm of particle filter, some diversity measures including effective sample size, population diversity factor and particle swarm diversity measure are introduced. Then combined with the simulation program using matlab 7.0 to track a single target motion from a fixed visual observation points, the performance of diversity measures in resampling algorithm of PF are evaluated.