منابع مشابه
Unscented Auxiliary Particle Filter Implementation of the Cardinalized Probability Hypothesis Density Filters
The probability hypothesis density (PHD) filter suffers from lack of precise estimation of the expected number of targets. The Cardinalized PHD (CPHD) recursion, as a generalization of the PHD recursion, remedies this flaw and simultaneously propagates the intensity function and the posterior cardinality distribution. While there are a few new approaches to enhance the Sequential Monte Carlo (S...
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Optimal Bayesian multi-target filtering is, in general, computationally impractical due to the high dimensionality of the multi-target state. Recently Mahler, [9], introduced a filter which propagates the first moment of the multi-target posterior distribution, which he called the Probability Hypothesis Density (PHD) filter. While this reduces the dimensionality of the problem, the PHD filter s...
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In this research, a non-infrastructure-based and low-cost indoor navigation method is proposed through the integration of smartphone built-in microelectromechanical systems (MEMS) sensors and indoor map information using an auxiliary particle filter (APF). A cascade structure Kalman particle filter algorithm is designed to reduce the computational burden and improve the estimation speed of the ...
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We apply the auxiliary particle filter algorithm of Pitt and Shephard (1999) to the problem of robot localization. To deal with the high-dimensional sensor observations (images) and an unknown observation model, we propose the use of an inverted nonparametric observation model computed by nearest neighbor conditional density estimation. We show that the proposed model can lead to a fully adapte...
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Bayesian particle filters have become popular for tracking human motion in cluttered scenes. The most commonly used filters suffer from two drawbacks. First, the prior used for the filtering step is often poor due to relatively large, poorly modelled inter-frame motion. Second, the use of the prior as an importance function results in inefficient sampling of the posterior. The use of the auxili...
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ژورنال
عنوان ژورنال: Journal of the American Statistical Association
سال: 2017
ISSN: 0162-1459,1537-274X
DOI: 10.1080/01621459.2016.1222291