Adaptive mutation particle filter based on diversity guidance

Aimed at the deficiency of the resampling algorithm in PF, diversity measures ESS (effective sample size) and PDF (population diversity factor) are evaluated respectively. Combined with the estimation result, diversity measures PDF is used for adaptively tuning the resampling threshold. By integrating the operation of particle mutation after resampling into PF and using the above mechanism of diversity guidance, the AMPF algorithm (Adaptive Mutation PF) is presented so as to assure the diversity of particle sets. With the simulation program using matlab 7.0 to track a single target motion from a fixed visual observation points, the performance of diversity measures and AMPF are evaluated and the validity of the proposed method is verified.