I'm pretty happy with my five year old bissell. The canister is easy to empty and you can wash it out in the sink. There are two filters which should be cleaned every 5th vacuum or so, and it's easy. The foam filters have held up well after 5 years. I replace the hepa (??) filter every year or two.
BTW.... the best way to keep a clean house is replace your furnace air filter more often (use a mid-range to high-end air filter).