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    發布日期: 2021-05-28
  • 語言: Matlab
  • 標簽: kld_sampling??matlab??

資源簡介

Kullback-Leibler距離.KLD-Sampling粒子濾波算法.該算法在保證一定 濾波精度的前提下,可以有效地減少濾波過程中使用的粒子數,從而減小濾波時間,提高濾波效率.

資源截圖

代碼片段和文件信息

%?kld_sampling?-?a?matlab?class?to?aid?in?KLD?Sampling.
%???Constructor
%?????sampler?=?kld_sampling(quantile?err?bin_size?sample_min)
%???Update?sampler?returns?estimated?#?of?samples?needed
%?????kld_samples?=?sampler.update(objsamples)
%
%?See?test.m?or?test2d.m?for?example?usage.

%?Note:?This?version?doesn‘t?follow?Fox?strictly?as?it?allows?the?update
%???????of?multiple?samples?on?each?iteration.??It?(very?slightly)
%???????overestimates?the?number?of?samples?needed?but?at?great?speedup
%???????since?we?more?efficiently?search?the?database?of?supported?bins.

%?Copyright?2013?-?open?source?BSD?License?-?see?license.txt?for?details
%?by?K.?Nickels?knickels@trinity.edu?12/16/2013

%?Original?Copyright?Notification
%/*********************************************************************
%??KLD-SAMPLING:?Adequately?Sampling?from?an?Unknown?Distribution.
%??Copyright?2006?-?open?source?BSD?License?-?see?license.txt?for?details
%??Copyright?(C)?2006?-?Patrick?Beeson??(pbeeson@traclabs.com)
%
%?Ported?to?Matlab?from?C++?K.?Nickels?2013?(knickels@trinity.edu)
%?Initial?port?v0?10/2/13?K?Nickels
%?Update?v1?10/3/13?K?Nickels?more?matlabification?(speedup?6)
%?Update?v2?10/4/13?K?Nickels?generalize?to?batch?updates?(speedup?2)
%?Release?v3?12/16/13?K?Nickels?
%?*********************************************************************/

classdef?kld_sampling?????properties
??????confidence?max_error;

??????bin_size=[];?%?vector?of?bin?sizes?(in?each?dim)
??????bins?=?[[]];?%?bins?is?matrix?for?support?-?each?row?is?a?samplebin

??????num_samples;
??????support_samples?kld_samples;

??????zvalue;
????end;?%?properties
????properties(Constant)
??????absolute_min=10;
??????ztable?=?[?0.0000000e+00?3.9900000e-03?7.9800000e-03?1.1970000e-02?1.5950000e-02?1.9940000e-02?2.3920000e-02?2.7900000e-02?3.1880000e-02?3.5860000e-02?3.9830000e-02?4.3800000e-02?4.7760000e-02?5.1720000e-02?5.5670000e-02?5.9620000e-02?6.3560000e-02?6.7490000e-02?7.1420000e-02?7.5350000e-02?7.9260000e-02?8.3170000e-02?8.7060000e-02?9.0950000e-02?9.4830000e-02?9.8710000e-02?1.0257000e-01?1.0642000e-01?1.1026000e-01?1.1409000e-01?1.1791000e-01?1.2172000e-01?1.2552000e-01?1.2930000e-01?1.3307000e-01?1.3683000e-01?1.4058000e-01?1.4431000e-01?1.4803000e-01?1.5173000e-01?1.5542000e-01?1.5910000e-01?1.6276000e-01?1.6640000e-01?1.7003000e-01?1.7364000e-01?1.7724000e-01?1.8082000e-01?1.8439000e-01?1.8793000e-01?1.9146000e-01?1.9497000e-01?1.9847000e-01?2.0194000e-01?2.0540000e-01?2.0884000e-01?2.1226000e-01?2.1566000e-01?2.1904000e-01?2.2240000e-01?2.2575000e-01?2.2907000e-01?2.3237000e-01?2.3565000e-01?2.3891000e-01?2.4215000e-01?2.4537000e-01?2.4857000e-01?2.5175000e-01?2.5490000e-01?2.5804000e-01?2.6115000e-01?2.6424000e-01?2.6730000e-01?2.7035000e-01?2.7337000e-01?2.7637000e-01?2.7935000e-01?2.8230000e-01?2.8524000e-01?2.8814000e-01?2.9103000e-01?2.9389000e-01?2.9673000e-01?2.9955000e-01?3.0234000e-01?3.0511000e-01?3.0785000e-01?3.1057000e-01?3.1327000e-01?3.1594000e-01?3.18590

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????3116??2013-12-17?21:05??README
?????文件????????1926??2013-12-16?23:08??info.xml
?????文件???????10788??2013-12-17?21:07??kld_sampling.m
?????文件????????2776??2013-12-17?21:07??test.m
?????文件????????3225??2013-12-17?21:07??test2d.m
?????文件????????1329??2014-02-12?14:41??license.txt

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