Path continuity of the nonlinear filter

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The nonlinear filtering model with independent signal and observation noise is considered. It is shown, that in the case, when the input function belongs to \(L_2 ([0,T])\) and is continuous in probability, the paths of the optimal filter are continuous a.s. The analysis is based on expressing the nonlinear filter as a Wiener functional via the Kallianpur-Striebel Bayes formula.











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