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part filt chapter finished, immpf nearly finished

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toni
2017-04-24 03:15:09 +02:00
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tex/chapters/introduction.tex
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@@ -13,7 +13,7 @@ At first, new particles are drawn according to some importance distribution, tho
%transition und evaluation einführen
In practice the importance distribution is often represented by the state transition, modelling the dynamics of the system.
A new weight is then obtained by the state evaluation given different sensor measurements.
Most localisation approaches differ mainly in how the transition and evaluation steps are implemented and the available sensors are incorporated \cite{Nurminen13-PSI, Ebner-15, Hilsenbeck2014}.
Most localisation approaches differ mainly in how the transition and evaluation steps are implemented and the available sensors are incorporated \cite{Nurminen13-PSI, Ebner2016OPN, Hilsenbeck2014}.
However, as \cite{Li2014} already mentioned, particle filter (and nearly all of its modifications) continue to suffer from two notorious problems: sample degeneracy and impoverishment.
As one can imagine, after a few iterations with continuously reweighting particles, the weight will concentrate on a few particles only.