enum mrpt::bayes::CParticleFilter::TParticleResamplingAlgorithm

Overview

Defines the different resampling algorithms. More…

#include <CParticleFilter.h>

enum TParticleResamplingAlgorithm
{
    Multinomial = 0,
    Residual,
    Stratified,
    Systematic,
};

Detailed Documentation

Defines the different resampling algorithms.

The implemented resampling methods are:

  • Multinomial (Default): Uses standard select with replacement (draws M random uniform numbers). See Doucet & Johansen 2009.

  • Residual: The residual or “remainder” method. See Liu & Chen 1998.

  • Stratified: A uniform sample is drawn for each of M subdivisions of the range (0,1]. See Kitagawa 1996.

  • Systematic: A single uniform sample is drawn in the range (0,1/M]. See Carpenter et al. 1999.

See the theoretical discussion in resampling schemes.