Figure 5.

Simulated measurements corresponding to the filtered state distributions for the motivating example. MTU particle filter (a) and standard particle filter with several different assumed lumped measurement variances <a onClick="popup('http://www.biomedcentral.com/1752-0509/7/8/mathml/M266','MathML',630,470);return false;" target="_blank" href="http://www.biomedcentral.com/1752-0509/7/8/mathml/M266">View MathML</a> (b-d). Violet shaded area: Measurement distributions based on empirical quantiles. Solid blue line: Median of simulated measurements. Yellow circles: Measurements.

Krengel et al. BMC Systems Biology 2013 7:8   doi:10.1186/1752-0509-7-8
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