Visual localization algorithm based on particle flow filtering
To solve the problems of large number of required particles,as well as large computation amount and poor positioning accuracy caused by particle dilution in resampling of visual positioning algorithm based on particle filter,a visual positioning algorithm optimized by particle flow filter is proposed.The algorithm uses a differential equation to move the particles,and the particle flow is used to update the random sample set from a prior distribution to a posterior distribution,thus avoiding the"particle degradation"phenome-non.Finally,the parameter approximation method is used to solve the particle flow filter.The experiment results show that this algorithm reduces the computational load and running time of the algorithm,improving the accuracy of the system.
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