This is a pointer that's a bit buried. For all the fanciness of different particle filtering algorithms, you are likely not using enough particles. Unless you h

This is a pointer that's a bit buried. For all the fanciness of different particle filtering algorithms, you are likely not using enough particles. Unless you having troubles related to running out of memory consider using more particles. Even doing fancier things like rejuvenation and stratified sampling benefit from more particles.