Research on Diversity Measure in Particle Filter

@article{Yu2010ResearchOD,
  title={Research on Diversity Measure in Particle Filter},
  author={Jinxia Yu and Yongli Tang and Wenjing Liu},
  journal={2010 International Conference on Intelligent Computation Technology and Automation},
  year={2010},
  volume={2},
  pages={1146-1149}
}
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… CONTINUE READING