Implementation of the auxiliary sampling importance resampling particle filter on graphics processing unit Yardimli ornekleme onem yeniden ornekleme paracik siizgecinin grafi işleme biriminde gercekle stirilmesi

DÜLGER Ö., OĞUZTÜZÜN M. H. S.

5th International Conference on Computer Science and Engineering, UBMK 2020, Diyarbakır, Türkiye, 9 - 10 Eylül 2020, ss.156-159 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/ubmk50275.2020.9219503
  • Basıldığı Şehir: Diyarbakır
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.156-159
  • Anahtar Kelimeler: ASIR particle filter, CUDA programming language, Graphics processing unit, SIR particle filter, Target tracking with radar
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

In this paper, we investigate the performances of sampling importance resampling (SIR) particle filter and auxiliary sampling importance resampling (ASIR) particle filter. We mention the reasons behind ASIR particle filter which is the improved version of SIR particle filter. We use target tracking with radar application whose measurements are highly nonlinear in the experiments. At first, we implement the serial versions of these particles filters on a single processor. Although their qualities improve as the number of particle increases, their execution times deteriorate rapidly. Then we implement them on a graphics processing unit (GPU). GPU offers promising solutions for the particle filters as it has many cores in its architecture. We implement SIR and ASIR particle filters by using CUDA programming language and achieve important speed ups along with same qualities on GPU.