Particle Filtering

Ask about this topic

Overview

Particle filtering uses weighted samples to approximate a changing probability distribution over hidden states, supporting Bayesian estimation when Gaussian assumptions are inadequate. Methods improve the proposal distributions that place particles, manage weight collapse through resampling, and extend filtering with smoothing, learned proposals, or differentiable updates. Applications include robot and maritime tracking, tactile pose estimation, and data assimilation, with evaluation on nonlinear state-space systems and real sensor data. A central challenge is balancing posterior accuracy and coverage against computational cost, especially in high-dimensional settings where particle degeneracy remains difficult to avoid.

Latest papers

CardsList

28 papers4 papers in the last four weeks, level with the four weeks before. 0.0% of all new papers.

  1. Monte Carlo-Based Indoor UAV Localization in Dynamic Environments Using Only Four Onboard Range Sensors

    Oct 23, 2026Mohammad Reza Ranjbar Divkoti, A. Pedro AguiarRobot LocalizationParticle Filtering

    SYSTEC-ARISE Research Center for Systems and Technologies, Faculty of Engineering, University of Porto 4200-465 Porto, Portugal.

  2. Mixture of Flow Matching and Particle Filter for Proprioception-Based Online Contact Estimation

    Oct 21, 2026Seo Wook Han, Min Jun KimContact Force EstimationParticle Filtering

    Intelligent Robotic Systems Laboratory, School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, South Korea

  3. Regularized free deconvolution for spectral repair of resampling distortion in high-dimensional particle filters

    Oct 16, 2026Deming Song, Chi-Kin Lam, Kefeng Li +3Particle FilteringSpectral Regularization

    Macao Polytechnic University, Macao · College of Textile Science and Engineering, Wuyi University, Jiangmen, China · Guangdong Provincial Key Laboratory of Novel Polyamide 6 Functional Fiber Materials Research and Application, Jiangmen, China

  4. Differentiable Systematic Resampling for Variational Sequential Monte Carlo

    Oct 8, 2026Fredrik Cumlin, Saikat ChatterjeeVariational Monte CarloParticle Filtering

    Department of Information Science, KTH Royal Institute of Technology, Stockholm, Sweden

  5. Assisting for Open-Ended Tasks: Goal-Oriented Shared Autonomy as a Particle Filter

    Sep 26, 2026Mengxue Fu, Ethan Xu, Sam Iyer-Singh +3Shared AutonomyAssistive Robotics

    Collaborative Robotics Lab (Collab), Dept. of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061 · RT2 Lab, Dept. of Computer Science, UW-Madison

  6. Learning to Bias: Machine Learning-Enhanced Particle Filters

    Sep 24, 2026Apoorv Srivastava, Eric DarveParticle FilteringBayesian Filtering

    Stanford University Stanford, CA 94305

  7. A Distributed Consensus Particle Filter for Target Tracking using Autonomous Surface Vessels

    Sep 8, 2026Carter Noh, Kyle Crandall, Connor Yates +1Particle FilteringMulti-Agent Consensus

    1Brigham Young University · 2US Naval Research Lab, Code 5534

  8. A Unified Particle Filter LSTM for Data-Driven Process Simulation

    Sep 2, 2026Parvin Malekzadeh, Opher Baron, Dmitry KrassParticle FilteringProcess Mining

    Rotman School of Management, University of Toronto, Toronto, ON, Canada

  9. Physics-Informed Sliding-Window Particle Filtering for Tactile-Only In-Hand 6-DoF Object Pose Refinement

    Aug 18, 2026Lingjun Shao, Ying Zhang, Xiangfei Li +4Object Pose EstimationParticle Filtering

    State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China. · Electric Power Research Institute, Guangdong Power Grid Co Ltd., Guangzhou 510080, China. · HUST-Wuxi Research Institute, Wuxi 214174, China.

  10. Dynamic Online Processor-Native Inference for State Estimation

    Jul 13, 2026Orestis KaparounakisParticle FilteringBayesian Filtering

  11. Generative Model Proposal based Particle Filtering for Data Assimilation

    Jul 1, 2026Chandni Nagda, Mayank Shrivastava, Gudrun Thorkelsdottir +3Particle FilteringData Assimilation

    University of Illinois at Urbana-Champaign · 2NVIDIA

  12. Multi-AUV Marine Life Tracking with Single Hydrophone Payloads via a Hidden Markov Model Equipped Particle Filter

    Jun 21, 2026Christopher Herrera, Kehlani Fay, Christopher Clark +3Particle FilteringUnderwater Robotics

    Harvey Mudd College, Claremont, CA 91711 USA · California State University Long Beach, Long Beach, CA 90840 USA · University of Costa Rica, San Jose, Costa Rica

  13. Intrinsic Selection and Particle Resampling for Inference-Time Scaling Beyond Domain Verifiability

    Jun 7, 2026Giorgio Giannone, Mustafa Eyceoz, Shabana Baig +5Particle FilteringInference-Time Scaling

    AI Innovation, Red Hat · DeCoDE Lab, MIT · Core AI, IBM

  14. State-Coupled Volatility in Latent Dynamical Systems: Recovery Under Partial Observation

    Jun 1, 2026Imani BeckettParticle FilteringLatent Dynamics Modeling

    The Herbert Wertheim School of Public Health and Human Longevity Science University of California San Diego

  15. Training-Free Bayesian Filtering with Generative Emulators

    May 19, 2026Thomas Savary, François Rozet, Gilles LouppeParticle FilteringBayesian Filtering

    SAIL, Montefiore institute, University of Liège, Belgium.

  16. SURGE: Approximation and Training Free Particle Filter for Diffusion Surrogate

    May 18, 2026Lifu Wei, Yinuo Ren, Naichen Shi +1Particle FilteringBayesian Filtering

    Department of Mechanical Engineering, Northwestern University, Evanston, IL, United States · Institute for Computational & Mathematical Engineering, Stanford University, Stanford, CA, United States · Department of Industrial Engineering & Management Sciences, Northwestern University, Evanston, IL, United States

  17. Online Bayesian Calibration under Gradual and Abrupt System Changes

    May 7, 2026Yang Xu, Chiwoo ParkParticle FilteringBayesian Filtering

    Department of Industrial and Systems Engineering University of Washington Seattle, WA 98195

  18. Learning Discriminators for Resampling in the Ensemble Gaussian Mixture Filter through a Normalizing Flow Approach

    May 1, 2026Zain Jabbar, Andrey A. PopovParticle FilteringBayesian Filtering

  19. Coupled Particle Filters for Robust Affordance Estimation

    Mar 16, 2026Patrick Lowin, Vito Mengers, Oliver BrockRobotic Affordance InferenceRobotic Manipulation

    Robotics and Biology Laboratory, Technische Universität Berlin · Robotics Institute Germany · Science of Intelligence (SCIoI), Cluster of Excellence, Berlin, Germany

  20. Algorithmic Consequences of Particle Filters for Sentence Processing: Amplified Garden-Paths and Digging-In Effects

    Mar 12, 2026Amani Maina-Kilaas, Roger LevyComputational PsycholinguisticsParticle Filtering

    Department of Brain and Cognitive Sciences, MIT

  21. Semantic Landmark Particle Filter for Robot Localisation in Vineyards

    Mar 11, 2026Rajitha de Silva, Jonathan Cox, James R. Heselden +3Robot LocalizationLiDAR Localization

    Lincoln Centre for Autonomous Systems (L-CAS), University of Lincoln, UK. · MAVLab, TU Delft, Netherlands. · Robotics Systems Lab, ETH Zurich, Switzerland.

  22. Adaptive Entropy-Driven Sensor Selection in a Camera-LiDAR Particle Filter for Single-Vessel Tracking

    Mar 9, 2026Andrei Starodubov, Yaqub Aris Prabowo, Andreas Hadjipieris +2Particle FilteringMaritime Surveillance

    Cyprus Marine and Maritime Institute, Larnaca, Cyprus · Technical University of Denmark, Lyngby, Denmark

  23. Path Integral Particle Filtering for Hybrid Systems via Saltation Matrices

    Mar 1, 2026Karthik Shaji, Sreeranj Jayadevan, Bo Yuan +2Particle FilteringRobot State Estimation

    Graduate Student, Daniel Guggenheim School of Aerospace Engineering · MathWorks · PlusAI +1

  24. Physics-informed neural particle flow for the Bayesian update step

    Feb 26, 2026Domonkos Csuzdi, Tamás Bécsi, Olivér TörőParticle FilteringBayesian Filtering

  25. Denoising Particle Filters: Learning State Estimation with Single-Step Objectives

    Feb 23, 2026Lennart Röstel, Berthold BäumlRobot State EstimationParticle Filtering

    Learning AI for Dextrous Robots Lab, Technical University of Munich, Germany.

  26. A Comparison of Bayesian Prediction Techniques for Mobile Robot Trajectory Tracking

    Feb 17, 2026Jose Luis Peralta-Cabezas, Miguel Torres-Torriti, Marcelo Guarini-HermannRobot Trajectory TrackingRobot State Estimation

    Dept. of Electrical Engineering, Pontificia Universidad Católica de Chile, Vicuña Mackenna 4860, Casilla 306-22, Santiago, Chile

  27. PyDPF: A Python Package for Differentiable Particle Filtering

    Oct 29, 2025John-Joseph Brady, Benjamin Cox, Yunpeng Li +1Particle FilteringBayesian Filtering

    King’s College London · Max-Planck Institut für Physik · University of Edinburgh

  28. GenTrack2: An Improved Hybrid Approach for Multi-Object Tracking

    Oct 28, 2025Toan Van Nguyen, Rasmus G. K. Christiansen, Dirk Kraft +1Multi-Object TrackingParticle Filtering

    SDU Robotics, University of Southern Denmark