Mixture Reducers¶
- class stonesoup.mixturereducer.base.MixtureReducer[source]¶
Bases:
stonesoup.base.Base
Mixture Reducer base class
- class stonesoup.mixturereducer.gaussianmixture.GaussianMixtureReducer(prune_threshold: float = 1e-09, merge_threshold: float = 16, merging: bool = True, pruning: bool = True)[source]¶
Bases:
stonesoup.mixturereducer.base.MixtureReducer
Gaussian Mixture Reducer class:
Reduces the number of components in a Gaussian mixture to increase computational efficiency. See [1] for details. Achieved in two ways: pruning and merging. Pruning is the act of removing low weight components from the mixture that fall below a pruning threshold. Merging is the act of combining similar components in the mixture that fall with a distance threshold into a single component.
References
[1] B.-N. Vo and W.-K. Ma, “The Gaussian Mixture Probability Hypothesis Density Filter,” Signal Processing,IEEE Transactions on, vol. 54, no. 11, pp. 4091–4104, 2006..
- Parameters
prune_threshold (
float
, optional) – Threshold for pruning.merge_threshold (
float
, optional) – Threshold for mergingmerging (
bool
, optional) – Flag for mergingpruning (
bool
, optional) – Flag for pruning
- reduce(components_list)[source]¶
Reduce the components of Gaussian Mixture
list
through pruning and merging
- prune(components_list)[source]¶
Pruning is the act of removing low weight components from the mixture that fall below a pruning threshold
prune_threshold
.- Parameters
components_list (
list
) – The components of Gaussian Mixture to be pruned- Returns
remaining_components – Components that remain after pruning
- Return type
GaussianMixtureState
- merge_components(component_1, component_2)[source]¶
Merge two similar components
- Parameters
component_1 (
WeightedGaussianState
) – First component to be mergedcomponent_2 (
WeightedGaussianState
) – Second component to be merged
- Returns
merged_component – Merged Gaussian component
- Return type
- merge(components_list)[source]¶
Merging is the act of combining similar components in the mixture that fall with a distance threshold
merge_threshold
into a single component.