Research Article
Sensitivity and Performance Evaluation of Multiple-Model State Estimation Algorithms for Autonomous Vehicle Functions
Algorithm 2
Bootstrap particle filter.
Initialize particles: | |
for to do | |
Predict | |
Draw particles from transition density | |
Update | |
Compute particle likelihoods | |
Output point estimate as weighted sum | |
Compute normalized weights | |
Draw from with probability Resample particles | |
end for |