ASIRPF

The ASIRPF class implements the auxiliary sampling importance resampling particle filter.

Configuration

Configure the number of particles

Set the number of particles used by the filter with the setNumParticles() method.

Configure resampling

Set the minimum allowed normalized ESS in order to determine how often resampling will be performed with the setMinAllowedNormalizedESS() method.

Supported Models

Literature

  • Branko Ristic, Sanjeev Arulampalam, and Neil Gordon, Beyond the Kalman Filter: Particle Filters for Tracking Applications. Section 3.5.2, Artech House Publishers, 2004.

  • Sanjeev Arulampalam, Simon Maskell, Neil Gordon, and Tim Clapp, “A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking,” IEEE Transactions on Signal Processing, vol. 50, no. 2, pp. 174–188, Feb. 2002.