Table 1 Pseudo-code of splitting the RSR algorithm into L loops: Generate a random number ΔU1 ~ u[0, 1]
From: Proposed hardware architectures of particle filter for object tracking
D = M/W // where W is the total sum of weights. |
|---|
-- For l = 1 to L |
   r(l) = int((W(l) -ΔU(l))*D); |
   ΔU(l+1) = ΔU(1) + r(l)- W(l) * D; |
   Loop l |
- For m = (l-1)*M/L to l*M/L-1 |
Perform RSR |
- End For |
-- End For |