Resampling attitude states (quaternions, rotation matrix) in a Particle Filter

Suppose I have a particle filter which contains an attitude state (we'll use a unit quaternion from the body to the earth frame for this discussion) $\mathbf{q}_b^e$.

What methods should or should not be used for resampling? Many resampling schemes (e.g. this paper) seem to require the variance to be calculated at some stage, which is not trivial for $SO\{3\}$. Or, the variance is required when performing roughening.

Are there any good papers on resampling attitude states? Especially those that re-sample complete poses (e.g. position and attitude)?