On an implementation of parallel algorithm of particle filter on Cell Broadband Engine

Abstract:An effective method to implement particle filter algorithm on Cell Broadband Engine in parallel way has been proposed. First problem for the implementation is resampling procedure of the algorithm, which is difficult to parallelize, and second one is local memory of computational core being limited to 256KB. Further subject is effective use of Single Instruction Multiple Data (SIMD) operations. In this paper, We propose following ideas for the implementation. DMA (Direct Memory Access) list transfer is effectively used to circumvent the limited capacity of local memory in computational core. In resampling, estimation accuracy is maintained and improvement in high speed using by residual resampling for each computational core individually. SIMD operations are effectively used with Structure of Arrays form. Through performance evaluation experiments, much higher performance of Cell Broadband Engine compared with conventional CPUs has been shown.