Table 1.

Algorithm to obtain samples from p(θ, x|y).

1. Initialize n = 1, {x, θ} = {x̂, θ̂} (optimal point estimates).

2. FOR t = 1 to number of samples of x to draw:

2A. FOR t’ = 1 to number of trajectories:

2A-I. Sample m ~ 𝒩(0, I).

2A-II. Track (x, m) with Equations B.1–B.3.

2A-III. Accept move with probability given by Eq. B.4

END

2B. FOR t” = 1 to number of samples of θ per sample of x:

2B-I. FOR t”’ = 1 to number of samples to skip:

2B-Ia. Sample the image labels with Equation 9.

2B-Ib. Sample the image intensity parameters with Equations 16 and 17.

END

2B-II. Record sample: x(n) = x, θ(n) = θ.

2B-III. n=n+1.

END

END