KLD-Sampling: Adaptive Particle Filters

  title={KLD-Sampling: Adaptive Particle Filters},
  author={Dieter Fox},
Over the last years, particle filters have been applied with g reat success to a variety of state estimation problems. We present a statist ical approach to increasing the efficiency of particle filters by adapting the size of sample sets on-the-fly. The key idea of the KLD-sampling method is to bound the approximation error introduced by the sample-based repres ntation of the particle filter. The name KLD-sampling is due to the fact that we measure the approximation error by the Kullback… CONTINUE READING
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