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@sandyUni
Created October 17, 2016 08:31
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resample method in particle filter
function [ indx ] = resampleSystematic(w,N)
Q = cumsum(w);
T = linspace(0,1-1/N,N) + rand(1)/N;
T(N+1) = 1;
i=1;
j=1;
indx = zeros(N,1);
while (i<=N),
if (T(i)<Q(j)),
indx(i)=j;
i=i+1;
else
j=j+1;
end
end
end
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