Local weight mean comparison scheme and architecture for high-speed particle filters

A local weight mean comparison scheme for high-speed particle filters along with its corresponding architecture is presented. The proposed scheme arranges a particle index by a comparison between the relevant weight and the current mean weight so that as many high-weighted particles as possible can be firstly accessed in the next sampling step. It breaks the sequential nature of resampling and basically maintains the same accuracy as that of the systematic resampling (SR) scheme. The proposed architecture pipelines the current resampling step and the next sampling step, and improves the speed by times compared with generic architectures based on the SR scheme and the residual systematic resampling scheme.