Survey on adaptive mechanisms of particle filter
粒子滤波自适应机制研究综述

Aimed at the inherent deficiency in particle filter and combined with the up-to-date research and application in the mobile robot field, this paper summarized some key technologies in current study from the adaptive mechanism of sample size respectively, the resampling strategy, proposal distribution, motion/likelihood model and the integration with other methods. At the same time, concluded the main challenges that needed to be solved in this field and also presented some future trends about the technology of these difficulties.