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
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System Models |
Measurement 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.