Application of line type particle filter in real-time extracting of laser ranging information

A modified particle filter is proposed and applied in real-time extracting of laser ranging information in this paper. We propose a particle of line type which can fit the character of laser echoes accurately and introduce it to the traditional particle filter algorithm. Further, the proposed line type particle filter is tested with simulation data and several real data from different earth-based laser ranging devices. The results demonstrate the good performance of the proposed line type particle filter in laser ranging information extracting.