Resampling Wheel Algorithm
Particle Filter들을 P 분포에 대해서 Random Sampling 하는 알고리즘 완전한 랜덤보다 X, Y와 비슷한 값을 준다
Resampling Wheel Pseudocode
index = U[1, N]
beta = 0
max_w = max(w)
for i = [1, N]:
beta = beta + U[0, 2*max_w]
while beta > w[index]:
beta = beta - w[index]
index = (index + 1) % N
select p[index]Resample Wheel in Python
p3 = []
beta = 0
index = random.randint(0, N-1)
for i in range(N):
beta += random.uniform(0, 2*max(w))
while w[index] < beta:
beta = beta - w[index]
index = ( index + 1 ) % N
p3.append(p[index])