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Sequential Monte Carlo smoothing with application to parameter estimation in non-linear state space models

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Figure 1. Typical particle trajectories for N = 50; see Section 4 for details regarding model and algorithm.
Figure 2. Boxplots of estimates of φ ν, 0: n|n S n, 1 /n, produced with the fixed-lag technique, for the noisily observed AR(1) model in Example 4.1.
Figure 3. Boxplots of estimates of φ ν, 0: n|n S n, 1 /n, produced by means of both the fixed-lag technique and standard trajectory-based smoothing, for the noisily observed AR(1) model in Example 4.1
Figure 4. Boxplots of estimates of φ ν, 0: n|n S n, 1 /n, produced with the fixed-lag technique, for the SV model in Example 4.2
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