This repository will be a home to the RFS based particle filters.

Motion models available:

• CV, CA or CT motion models.
• 2-D or 3-D problems.
• 2-D CV models accounts for the observer motion (observer accelerations).

Measurement models available:

• linear : 2-D and 3-D, for CA and CV motion models.
• nonlinear : bearings-only (2-D only, for now).

Bootstrap particle filter available (not tested)

• uniform resampling procedure (SIS).

To be added:

• sensor control function (as a control input to the dynamic system model).
• adaptation to the Bernoulli (after that Multi Bernoulli) filter concept.
• some evolutionary approach for the resampling procedure.
• data generation module.