Question

Imagine that the resampling step was not used in the implementation of the particle filter. Would the particles move correctly during a motion update?

Options:
a) Yes, they would move correctly
b) No, they would move incorrectly
c) Uncertain, depends on other factors
d) Irrelevant to particle movement

Answer 1

Without resampling, the particle filter's particles move correctly during a motion update, but the overall filter performance would degrade, leading to poor state estimations.

Step-by-step explanation:

If the resampling step was not used in the implementation of the particle filter, the particles would still move according to the motion update. However, over time, without resampling to eliminate particles with low weights and duplicate those with high weights, all particles may eventually end up with approximately equal and very low weights.

This would result in a poor representation of the posterior probability and as a consequence, an ineffective filter. Therefore, while the particles themselves would move correctly during a motion update, the overall particle filter performance would degrade, possibly leading to incorrect estimations of the state.