PARTICLE RESAMPLING METHOD FOR PARTICLE FILTER

摘要

Particle re-extraction method for a particle filter according to an embodiment of the present invention comprises the steps of classifying a plurality of particles into at least two or more groups according to the weight size; Lowering the weight of particles included in one of the at least two groups according to a predetermined ratio; Erasing particles included in another group of the at least two or more groups; And duplicating the particles included in the one group at the position of the erased particles.