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second draft finish - false images

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toni
2017-05-11 04:08:04 +02:00
parent 210fae56b7
commit c0ee2f7738
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tex/chapters/method.tex
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@@ -116,6 +116,7 @@ The mixing step requires that the independently running filtering processes are
With the above, we are finally able to combine the two filters described in section \ref{sec:rse} and realize the considerations made in section \ref{sec:divergence}.
Within the IMMPF we utilize the restrictive graph-based filter as the \textit{dominant} one, providing the state estimation for the localisation.
Due to its robustness and good diversity the simple, more permissive filter, is then used as \textit{support} for possible sample impoverishment.
The names dominant and support are now applied as synonyms for the respective filters used as modes within the IMMPF.
As a reminder, both filters (modes) are running in parallel for the entire estimation life cycle.
If we recognize that the dominant filter diverges from the supporting filter and thus got stuck or lost track, particles from the supporting filter will be picked with a higher probability while mixing the new particle set for the dominant filter.