Generic hardware architectures for sampling and resampling in particle filters

DOI10.1155/ASP.2005.2888MaRDI QIDQ2502863zbMATH OpenOpenAlexFDO

Authors Akshay Athalye, Sangjin Hong, P. M. Djurić, Miodrag Bolic

Publication date 13 September 2006

Published in EURASIP Journal on Applied Signal Processing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1155/asp.2005.2888

zbMATH Keywords

bearings-only trackinghardware architecturesmemory schemesparticle filtersreal-time processing

Mathematics Subject Classification ID

Stochastic particle methods (65C35) Filtering in stochastic control theory (93E11) Sampling theory in information and communication theory (94A20) Analytic circuit theory (94C05)

Review text

Summary: Particle filtering is a statistical signal processing methodology that has recently gained popularity in solving several problems in signal processing and communications. Particle filters (PFs) have been shown to outperform traditional filters in important practical scenarios. However their computational complexity and lack of dedicated hardware for real-time processing have adversely affected their use in real-time applications. In this paper, we present generic architectures for the implementation of the most commonly used PF, namely, the sampling importance resampling filter (SIRF). These provide a generic framework for the hardware realization of the SIRF applied to any model. The proposed architectures significantly reduce the memory requirement of the filter in hardware as compared to a straightforward implementation based on the traditional algorithm. We propose two architectures each based on a different resampling mechanism. Further, modifications of these architectures for acceleration of resampling process are presented. We evaluate these schemes based on resource usage and latency. The platform used for the evaluations is the Xilinx Virtex II pro FPGA. The architectures presented here have led to the development of the first hardware (FPGA) prototype for the particle filter applied to the bearings-only tracking problem.

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