XXooptRobotics

Computing Effective Sample Size

hardnumerical

General

After a measurement update, a particle filter with 4 particles has the following normalized importance weights: $w=[0.5,  0.25,  0.125,  0.125].w = [\,0.5,\; 0.25,\; 0.125,\; 0.125\,].$

Using the standard approximation Neff=1i(w(i))2N_{\text{eff}} = \dfrac{1}{\sum_{i} (w^{(i)})^2}, compute the effective sample size. Give your answer in number of particles.

particles