High Real-time Resampling Algorithm for Particle Filters

Resampling is a critically operation to solve degeneracy problem with particle filters.The common characteristics with traditional resampling algorithms,such as system resampling,residual resampling and Bolic's residual-systematic resampling,are all high complexity and large storage.Time efficiency bottlenecks the practicability of particle filters.Particle filters were reviewed and a new high real-time resampling algorithm called simple resampling was proposed.The simulation results prove the proposed algorithm has the same precision,but it is low complexity,high speed,and suitable for hardware implementation.