Particle filter

Particle filter

Particle filters, also known as sequential Monte Carlo methods (SMC), are sophisticated model estimation techniques based on simulation.

They are usually used to estimate Bayesian models and are the sequential ('on-line') analogue of Markov chain Monte Carlo (MCMC) batch methods and are often similar to importance sampling methods. If well-designed, particle filters can be much faster than MCMC. They are often an alternative to the Extended Kalman filter (EKF) or Unscented Kalman filter (UKF) with the advantage that, with sufficient samples, they approach the Bayesian optimal estimate, so they can be made more accurate than either the EKF or UKF. The approaches can also be combined by using a version of the Kalman filter as a proposal distribution for the particle filter.


The particle filter aims to estimate the sequence of hidden parameters, x_k for k=0,1,2,3, ldots, based only on the observed data y_k for k=0,1,2,3, ldots. All Bayesian estimates of x_k follow from the posterior distribution p(x_k|y_0,y_1,ldots,y_k). In contrast, the MCMC or importance sampling approach would model the full posterior p(x_0,x_1,ldots,x_k|y_0,y_1,ldots,y_k).


Particle methods assume x_k and the observations y_k can be modeled in this form:

*x_0, x_1, ldots is a first order Markov process such that
*:x_k|x_{k-1} sim p_{x_k|x_{k-1(x|x_{k-1})and with an initial distribution p(x_0).
*The observations y_0, y_1, ldots are conditionally independent provided that x_0, x_1, ldots are known:In other words, each y_k only depends on x_k::y_k|x_k sim p_{y|x}(y|x_k)

One example form of this scenario is

:x_k = f(x_{k-1}) + v_k ,:y_k = h(x_k) + w_k ,

where both v_k and w_k are mutually independent and identically distributed sequences with known probability density functions and f(cdot) and h(cdot) are known functions.These two equations can be viewed as state space equations and look similar to the state space equations for the Kalman filter. If the functions f(cdot) and h(cdot) were linear, and if both v_k and w_k were Gaussian, the Kalman filter finds the exact Bayesian filtering distribution. If not, Kalman filter based methods are a first-order approximation. Particle filters are also an approximation, but with enough particles can be much more accurate.

Monte Carlo approximation

Particle methods, like all sampling-based approaches (e.g., MCMC), generate a set of samples that approximate the filtering distribution p(x_k|y_0,dots,y_k). So, with P samples, expectations with respect to the filtering distribution are approximated by

:int f(x_k)p(x_k|y_0,dots,y_k)dx_kapproxfrac1Psum_{L=1}^Pf(x_k^{(L)})

and f(cdot), in the usual way for Monte Carlo, can give all the moments etc. of the distribution up to some degree of approximation.

Sampling Importance Resampling (SIR)

"Sampling importance resampling (SIR)" is a very commonly usedparticle filtering algorithm, which approximates the filteringdistribution p(x_k|y_0,ldots,y_k) by a weighted setof P particles

: {(w^{(L)}_k,x^{(L)}_k)~:~L=1,ldots,P}.

The "importance weights" w^{(L)}_k are approximations tothe relative posterior probabilities (or densities) of the particlessuch that sum_{L=1}^P w^{(L)}_k = 1.

SIR is a sequential (i.e., recursive) version of importance sampling.As in importance sampling, the expectation of a functionf(cdot) can be approximated as a weighted average

: int f(x_k) p(x_k|y_0,dots,y_k) dx_k approxsum_{L=1}^P w^{(L)} f(x_k^{(L)}).

For a finite set of particles, the algorithm performance is dependent on the choice of the"proposal distribution"

: pi(x_k|x_{0:k-1},y_{0:k}), .

The "optimal proposal distribution" is given as the "target distribution": pi(x_k|x_{0:k-1},y_{0:k}) = p(x_k|x_{k-1},y_{k}). ,

However, the transition prior is often used as importance function, since it is easier to draw particles (or samples) and perform subsequent importance weight calculations:: pi(x_k|x_{0:k-1},y_{0:k}) = p(x_k|x_{k-1}). ,"Sampling Importance Resampling" (SIR) filters with transition prior as importance function are commonly known as bootstrap filter and condensation algorithm.

"Resampling" is used to avoid the problem of degeneracy of thealgorithm, that is, avoiding the situation that all but one of theimportance weights are close to zero. The performance of the algorithmcan be also affected by proper choice of resampling method. The"stratified resampling" proposed by Kitagawa (1996) is optimal interms of variance.

A single step of sequential importance resampling is as follows:

:1) For L=1,ldots,P draw samples from the "proposal distribution"

:: x^{(L)}_k sim pi(x_k|x^{(L)}_{0:k-1},y_{0:k})

:2) For L=1,ldots,P update the importance weights up to a normalizing constant:

:: hat{w}^{(L)}_k = w^{(L)}_{k-1}frac{p(y_k|x^{(L)}_k) p(x^{(L)}_k|x^{(L)}_{k-1})}{pi(x_k^{(L)}|x^{(L)}_{0:k-1},y_{0:k})}.

:3) For L=1,ldots,P compute the normalized importance weights:

:: w^{(L)}_k = frac{hat{w}^{(L)}_k}{sum_{J=1}^P hat{w}^{(J)}_k}

:4) Compute an estimate of the effective number of particles as

:: hat{N}_mathit{eff} = frac{1}{sum_{L=1}^Pleft(w^{(L)}_k ight)^2}

:5) If the effective number of particles is less than a given threshold hat{N}_mathit{eff} < N_{thr}, then perform resampling:

::a) Draw P particles from the current particle set with probabilities proportional to their weights. Replace the current particle set with this new one.

::b) For L=1,ldots,P set w^{(L)}_k = 1/P.

The term " Sequential Importance Resampling" is also sometimes used when referring to SIR filters.

Sequential Importance Sampling (SIS)

* Is the same as Sampling Importance Resampling, but without the resampling stage.

"Direct version" algorithm

The "direct version" algorithm is rather simple (compared to other particle filtering algorithms) and it uses composition and rejection.To generate a single sample x at k from p_{x_k|y_{1:k(x|y_{1:k}):

:1) Set p=1

:2) Uniformly generate L from {1,..., P}

:3) Generate a test hat{x} from its distribution p_{x_k|x_{k-1(x|x_{k-1|k-1}^{(L)})

:4) Generate the probability of hat{y} using hat{x} from p_{y|x}(y_k|hat{x}) where y_k is the measured value

:5) Generate another uniform u from [0, m_k]

:6) Compare u and hat{y}

::6a) If u is larger then repeat from step 2

::6b) If u is smaller then save hat{x} as x{k|k}^{(p)} and increment p

:7) If p > P then quit

The goal is to generate P "particles" at k using only the particles from k-1.This requires that a Markov equation can be written (and computed) to generate a x_k based only upon x_{k-1}.This algorithm uses composition of the P particles from k-1 to generate a particle at k and repeats (steps 2-6) until P particles are generated at k.

This can be more easily visualized if x is viewed as a two-dimensional array.One dimension is k and the other dimensions is the particle number.For example, x(k,L) would be the Lth particle at k and can also be written x_k^{(L)} (as done above in the algorithm).Step 3 generates a "potential" x_k based on a randomly chosen particle (x_{k-1}^{(L)}) at time k-1 and rejects or accepts it in step 6.In other words, the x_k values are generated using the previously generated x_{k-1}.

Other Particle Filters

* Auxiliary particle filter
* Gaussian particle filter
* Unscented particle filter
* Monte Carlo particle filter
* Gauss-Hermite particle filter
* Cost Reference particle filter
* Rao-Blackwellized particle filter

See also

* Ensemble Kalman filter
* Recursive Bayesian estimation


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title = On Sequential Monte Carlo Methods for Bayesian Filtering
journal = Statistics and Computing
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pages = 197-208
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External links

* [ Sequential Monte Carlo Methods (Particle Filtering)] homepage on University of Cambridge
* [ Dieter Fox's MCL Animations]
* [ Rob Hess' free software]
* [ Tutorial on particle filtering] with the MRPT C++ library, and a [ mobile robot localization video] .

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