As an example, let’s consider a moving robot in one dimension. The state contains only one variable, the location. From time $t$ to $t + 1$ the robot has moved an expected distance of 1 meter to the right with Gaussian movement noise. In this case we would just add 1 to the locations of all the particles plus a random number that is sampled from the transition model.

Now we calculate the particle representation of $bel(x_{t+1})$, namely $\chi_{t+1}$, from $\overline{\chi}_{t+1}$. The key idea here is to assign a so-called importance weight, denoted $\omega[i]$, to each of the particles in $\overline{\chi}_{t+1}$. This importance weight is a measure of how compatible the particle $\overline{p}_{t+1}^{[i]}$ is with the new measurement $e_{t+1}$. This probability can be obtained from the sensor model. $\chi_{t+1}$ is then constructed by randomly picking $n$ particles from $\overline{p}_{t+1}^{[i]}$ with a probability proportional to their weight. The same particle may be picked multiple times. This procedure is called resampling.

Example