一种新的自定位非参数信念传播方法

Hadi Noureddine, N. Gresset, D. Castelain, R. Pyndiah
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引用次数: 8

摘要

我们考虑了一个由固定通信设备组成的网络的相对自定位问题。求解分两个阶段:首先,采用一种新的非参数信念传播算法进行信念估计;这种变体基于蒙特卡罗积分和拒绝抽样,其中为每个节点确定一个划定的空间区域,以降低拒绝率。然后,提出了一种新的基于离散状态空间估计的算法来解决由于缺乏测量而导致的翻转模糊。该方案具有减少通信粒子数量和计算成本的优点。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A new variant of Nonparametric Belief Propagation for self-localization
We consider the problem of relative self-localization of a network of fixed communicating devices that evaluate range measurements between each other. The solution is obtained in two stages: First, a new variant of the Nonparametric Belief Propagation algorithm is used for estimating the beliefs. This variant is based on a Monte-Carlo integration with rejection sampling where a delimited space region is determined for each node in order to reduce the rejection ratio. Then, a new algorithm based on estimation in discrete states space is proposed for solving the flipping ambiguities resulting from the lack of measurements. This solution has the advantage of reducing the amount of communicating particles and the computation cost.
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