a Question in function file OOSM.m

[TxisOk]

function [ particle_res, oosmSucceed ] = OOSM( particle_mi, weight_un, dcov_pl, skipped, sig_meas, DEM, oosmSucceed )
%OOSM 이 함수의 요약 설명 위치

[a,M] = size(skipped);
[r, numParticle] = size(particle_mi);

for m = 1:1:M
oosmindex = skipped(m).index;

weight_tmp = weight_un;
particle_oosm = skipped(m).particle;
for n = 1:1:numParticle
    z_est = DEM_height(particle_oosm(:,n),DEM);
    weight_un(n) = weight_un(n) * likelihood(z_est, skipped(m).z, sig_meas);
end

weight = weight_un/sum(weight_un);
[particle_star, w] = Resample(particle_mi, weight);

dcov_oosm = det(cov(particle_star'));

Here is my question:

According to the [Utilizing Out-of-Sequnece Measurement for Ambiguous Update in Particle Filtering] , Algorithm 3
What if dcov_oosm > dcov_pl ?
Should we add one judgement (if ... ) here ?

end

particle_res = particle_star;

end