EURASIP Journal on Applied Signal Processing 
Volume 2004 (2004), Issue 15, Pages 2267-2277
doi:10.1155/S1110865704405149

Resampling Algorithms for Particle Filters: A Computational Complexity Perspective

Miodrag Bolić, Petar M. Djurić, and Sangjin Hong

 Department of Electrical and Computer Engineering, State University of New York at Stony Brook, Stony Brook 11794-2350, NY, USA
Received 30 April 2003; Revised 28 January 2004

Abstract

Newly developed resampling algorithms for particle filters suitable for real-time implementation are described and their analysis is presented. The new algorithms reduce the complexity of both hardware and DSP realization through addressing common issues such as decreasing the number of operations and memory access. Moreover, the algorithms allow for use of higher sampling frequencies by overlapping in time the resampling step with the other particle filtering steps. Since resampling is not dependent on any particular application, the analysis is appropriate for all types of particle filters that use resampling. The performance of the algorithms is evaluated on particle filters applied to bearings-only tracking and joint detection and estimation in wireless communications. We have demonstrated that the proposed algorithms reduce the complexity without performance degradation.