From: Multi-prediction particle filter for efficient parallelized implementation
1:Â /* SRS-based LPS Procedure */ |
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2:Â Input: |
3:Â Â Â previous selected particle: {{,,} |
4:Â Â Â new generated particle: {,,} |
5:Â Selection: |
6:Â Â Â u ~ U[0, 1]//uniform random variable |
7:Â Â Â |
8:Â Â Â if () |
9:Â Â Â Â Â |
10:Â end if |