Figure 9.

An illustrative example of the MAP estimation. Two particles are shown, in top and bottom rows. In the three leftmost panels, both particles have estimated two components, whose locations are marked with green plus signs, and are estimating their third component. The particle in the top row seems to be estimating the grid components in correct order whereas the other particle in the bottom row has a false order. The panels from left to right show respectively the contours of the prior distribution, likelihood, and posterior distribution of the third component. The distributions are evaluated only in the vicinity of the prior mean. The MAP estimate is marked with a magenta cross. The rightmost panels show the final grid estimation of the particles. The maximum of the joint posterior of the top particle is likely to greatly exceed that of the bottom row so if only these two particles were in use, the estimated glint grid location would be that of the top row particle.