... and it is very easy. In years I can't remember when is last time I cleaned my canister Dyson filter. I clean my handheld filter once every six months, I think.
By very easy I mean that you pull it out in less than 5 seconds, clean it under water, let it dry for a while, and put it back in less than 5 seconds.

I'd never go back to bags either. Probably I used poor products before, but every time I changed bag I had dust all over the place. Emptying both the handheld and the canister Dyson is quite simpler and less messy for me.

Also, I know form theory that when the filter is dirty they have less suction power, but I would not be able to notice.