...粒子退化；粒子枯竭 [gap=1160]Key words】Particle Filter; Artificial Fish School Algorithm; Adaptive; Particle Degeneracy; Particle Impoverishment ...
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即所谓的粒子退化现象 Degeneracy Problem
For the particle degeneracy problem of mobile robot simultaneous localization and mapping algorithm using Rao-Blackwellized particle filter (RBPF-SLAM), this paper proposed an improved sampling strategy.
针对采用Rao-Blackwellized粒子滤波器的移动机器人同步定位与地图构建算法（RBPF-SLAM）所面临的粒子退化问题，提出了一种改进的采样方法。
参考来源 - 基于固定滞后Gibbs采样粒子滤波的移动机器人SLAM—《计算机应用研究》—2008年第11期—龙源期刊网The particle degradation problem in ordinary particle filter seriously limits its development.
普通粒子滤波的粒子退化问题严重地限制了其基本方法的发展。
参考来源 - 基于运动补偿与RJ·2,447,543篇论文数据，部分数据来源于NoteExpress
与粒子滤波算法相比，其优点是不需要重采样步骤和不存在粒子退化现象。
Compared with the particle filter (PF), it avoids the resampling step and the particle degeneracy phenomenon.
在粒子滤波中，防止粒子退化的两个关键因素是选择适当的采样建议分布和重采样算法。
In particle filtering, the two key issues for avoiding particles degradation are the choosing of proper proposal distribution and resampling algorithm.
该方法能降低基于粒子滤波的运动目标跟踪方法在迭代一定次数后会出现粒子权重聚集的粒子退化速度。
This method can reduce the weight degradation rate of particle aggregation which occurs in the particle filter moving target tracking method after a certain number of iterations.
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