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The problem of sample impoverishment is then encountered by adapting the number of particles depend upon the systems current uncertainty \cite{Fetzer-17}. -However, in practice sample impoverishment is often a problem of environmental restrictions and system dynamics. -Therefore, such a method fails, since it is not able to propagate new particles into the state space due to environmental restrictions e.g. walls or ceilings. -In \cite{Fetzer-17} we deployed an interacting multiple model particle filter (IMMPF) to solve the sample impoverishment. +In practice sample impoverishment is often a problem of environmental restrictions and system dynamics. +Therefore, the method above fails, since it is not able to propagate new particles into the state space due to environmental restrictions e.g. walls or ceilings. +In \cite{Fetzer-17} we deployed an interacting multiple model particle filter (IMMPF) to solve sample impoverishment in such restrictive scenarios. We combine two particle filter using a non-trivial Markov switching process, depending upon the Kullback-Leibler divergence between both. - -However, deploying a IMMPF is in most cased not a necessary step, thus we present i much simple, but also very heuristic model within this paper. +However, deploying a IMMPF is in many cases not necessary and produces additional processing overhead. +Thus a much simpler, but very heuristic method is presented within this paper. %estimation -Finally, as the name recursive state estimation states, it requires to find the most probable state within the state space, to provide the “best estimate” of the underlying problem. -In the discrete manner of a sample representation this is often done by providing a single value, also known as sample statistic, to serve as a “best guess”. -This value is then calculated by means of simple parametric point estimators, e.g. the weighted-average over all samples, the sample with the highest weight or by assuming other parametric statistics like normal distributions -However in complex situtations like a multimodal representatio of the posterior, such methods fail to provide an accurate statement about the most probable state. +Finally, as the name recursive state estimation says, it requires to find the most probable state within the state space, to provide the "best estimate" of the underlying problem. +In the discrete manner of a particle representation this is often done by providing a single value, also known as sample statistic, to serve as a best guess \cite{Bullmann-18}. +Examples are the weighted-average over all particles or the particle with the highest weight. +However in complex scenarios like a multimodal representation of the posterior, such methods fail to provide an accurate statement about the most probable state. +Thus, in \cite{} we present a rapid computation scheme + A well known solution is KDE. For example \cite{} used a ... in .... However it is obvious that this method has a massive computation time and is thus not practicle for smartphone-based solutions.