Modelling and Analysis of Parallel Particle Filters

ALEJANDRO PASCIARONI; SILVANA SAÑUDO; J. AGUSTÍıN RODRÍGUEZ; FAVIO MASSON; PEDRO JULIÁN

San Carlos de Bariloche

Congreso; XV Reunión de Trabajo en Procesamiento de la Información y Control; 2013

The resampling step of the particle filter presents high data dependency between the particle set and when number of particles is increased, it becomes the major bottleneck in the execution time of the filter. In this work an analysis of different strategies to overcome this issue is presented. It is based on a high level representation of this step that allows to understand and compare different configurations. The accuracy resulting for each of the configurations are analyzed by simulations for a common scenario.