关键词: 粒子滤波, Mean Shift, 小生境遗传算法, 重采样

Abstract: Resampling is a critical operation to solve degeneracy problem with particle filters generally. The basic idea of resampling is to discard particles which have small weights and concentrate on particles with large weights. But resampling often introduces sample impoverishment problem, especially the sample is limited under the condition, even causes the filter to disperse. This paper proposes improved particle filter algorithm. Mean Shift integrates with particle filter, and then the niching genetic algorithm is used in resampling in order to  improve the variety of particles and remove the degeneracy phenomenon. The simulation results prove the proposed algorithm reduces the tracking error, and has better precision.

Key words: particle filter, Mean Shift, niching genetic algorithm, resampling