Frei, M.; Künsch, H. R. - In: Biometrika 100 (2013) 4, pp. 781-800
In many applications of Monte Carlo nonlinear filtering, the propagation step is computationally expensive, and hence the sample size is limited. With small sample sizes, the update step becomes crucial. Particle filtering suffers from the well-known problem of sample degeneracy. Ensemble Kalman...