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  • Research Article
  • Open Access

Variable-Mass Particle Filter for Road-Constrained Vehicle Tracking

EURASIP Journal on Advances in Signal Processing20072008:321967

  • Received: 20 July 2006
  • Accepted: 13 August 2007
  • Published:


The paper studies the road-constrained vehicle tracking problem employing the multiple-model particle filtering framework. It introduces an approach which enables for a more efficient particle use within the multimodel structure of the tracker; rather than allocating the particles to the various modes of operation using fixed mode probabilities, it proposes to allocate the particles freely according to user-defined application-specific criteria. For compensating for the arbitrary allocation of the particles, the particles are assigned with masses which scale appropriately their weights. Simulation results demonstrate the improved particle efficiency of the new variable-mass approach when contrasted with the standard variable-structure multiple model particle filter in a vehicle tracking application.


  • Information Technology
  • Quantum Information
  • Particle Filter
  • Multiple Model
  • Model Particle

Publisher note

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Authors’ Affiliations

Institute for Digital Communications, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh, EH9 3JL, UK


© G. Kravaritis and B. Mulgrew. 2008

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.