Architectures for Particle Filtering - Signal Processing Systems - page 638

Fig. 8 The block diagram of parallel particle filter resampling. The central unit is responsible for
correct particle exchanges

M 1. When the particles classified in T are sent back to the PE, the particles in

the adjacent TB buffer are transferred. This arrangement is to make sure that each
PE receives particles from other PEs to eliminate particle localization.
In order to facilitate effective particle distribution, an efficient internal balancing
network is necessary as shown in Fig. 9 . In this architecture, we define physical
connection types, inner-connection and outer-connection . The inner-connection
uses buses shown on the top of the RTB buffers in the figure whereas the outer-
connection uses buses shown at the bottom of the RTB buffers. In addition, there
are logical connection types, inter-connection and intra-connection . The inter-
connection represents connectivity between the RTBs in different PE CU interfaces
whereas intra-connection represents connectivity between the RTBs within the same
PE CU interface. With this reconfigurable balancing network, particle transfers
between different PE CU are carried out through this reconfigurable balancing
network. Each connectivity can be classified uniquely based on the type of
connection discussed above. The number of buses for inner-connection is fixed to 1
and the number of buses for outer-connection is equal to P

/ P −

/ 2 so that the particles can