NXC: NXT particle filter (Sequential Monte Carlo method SMC)

[HaWe]

hi,
has anyone seen a well-documented source code for a NXC ( C / RobotC / nxtOSEK C) particle filter (Sequential Monte Carlo method (SMC)) ?
(running on an autonomous NXT, not for being remote controlled by a PC)

(note: this question is NOT about a Kalman filter!)

I'm looking for something like
compass correction by a gyro sensor
odometry correction by a gyro or a compass ?

Maybe we can found a workgroup for implementing such a thing for the NXT ...?