M2SIR: A multi modal sequential importance resampling algorithm for particle filters

@article{Chateau2009M2SIRAM,
  title={M2SIR: A multi modal sequential importance resampling algorithm for particle filters},
  author={Thierry Chateau and Yann Goyat and Laurent Trassoudaine},
  journal={2009 16th IEEE International Conference on Image Processing (ICIP)},
  year={2009},
  pages={4073-4076}
}
We present a multi modal sequential importance resampling particle filter algorithm for object tracking. We consider a hidden state sequence linked to several observation sequences given by different sensors. In a particle filter based framework, each sensor provides a likelihood (weight) associated to each particle and simple rules are applied to merge the different weights such as addition or product. We propose an original algorithm based on likelihood ratios to merge the observations within… CONTINUE READING

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