On Covariance Matrix Degeneration in Marginalized Particle Filters with Constant Velocity Models. - Jakob Åslund; Fredrik Gustafsson; Gustaf Hendeby (FUSION, 2022)

When Does the Marginalized Particle Filter Degenerate? - Jakob Åslund; Fredrik Gustafsson; Gustaf Hendeby (FUSION, 2023)

Illustrative Examples and Possible Explanation for an Unexpected Behaviour of the Particle Filter. - Jakob Åslund; Fredrik Gustafsson; Gustaf Hendeby (MFI, 2024)