\section{Related Work}
\label{sec:relatedWork}
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resampling approaches presented in and ... not able to solve impovershement, especially the one caused by a restrictive transition model.
trade of effective sample size





andere arbeiten die particle depletion verhindern wollte -> was haben die so gemacht?

basic idea of this work is to combine two different filters. on depending upon realistic movement and the other observing absolut positions to prefent particle depletion due to relative measurements. 

combining different filters.

jump markov non linear system.

interacting multiple model

particle filter




