

![0_image_0.png](0_image_0.png)

![0_image_1.png](0_image_1.png)

we also maintain a parametric representation of the Rao-Blackwellised belief state B f ), and the value of the h function for that sample h (i). The weights of the samples, together with the values of the h function can then be combined to yield an approximation for f .

Some details on how we can obtain the new samples at each time step are worth noting here.  Since we are using the optimal sampling distribution qt = Bt(st, lt|0t) to sample the