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toni
2016-05-08 20:22:02 +02:00
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tex/chapters/system.tex
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@@ -19,7 +19,7 @@ Therefore, a Bayes filter that satisfies the Markov property is used to calculat
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Here, the previous observation $\mObsVec_{t-1}$ is included into the state transition \cite{Koeping14-PSA}.
For approximating eq. \eqref{equ:bayesInt} by means of MC methods, the transition is used as proposal distribution, also known as CONDENSATION algorithm \cite{isard1998smoothing}.
The handle the phenomenon of weight degeneracy we additionally apply a resampling step.
This algorithm also performs a resampling step to handle the phenomenon of weight degeneracy.
In context of indoor localisation, the hidden state $\mStateVec$ is defined as follows:
\begin{equation}