Discussion
What is a particle filter?
Answer: B
Representing the belief state by a population of weighted samples, propagating them through the transition model and reweighting by the observation, handles continuous and non-linear models that exact methods cannot. Resampling concentrates the population where the probability is. Outlier removal, physical simulation and exactness are different notions. Approximating a distribution by a sample, when no closed form exists, is a technique whose generality is its main attraction. Reading the definition literally, rather than recalling a formula, is the reliable route through questions of this shape.
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