In my talk I will describe a recent extension of the Sequential Monte Carlo (SMC) method. SMCs (particle filters) are a commonly used method to estimate a latent dynamical process from sequential noise-contaminated observations. SMCs are extremely powerful but suffer from sample impoverishment, a situation in which very few diﬀerent particles represent the distribution of interest. I will describe our attempt to circumvent this fundamental problem by adding an extra MCMC step in the SMC algorithm. I will illustrate the usefulness of this algorithm by considering a toy neuroscience example.