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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