Smoothing Algorithms for State-Space Models. Briers, M.; Doucet, A.; and Maskell, S. IEEE TRANSACTIONS ON SIGNAL PROCESSING.
bibtex   
@ARTICLE{Briers,
  author = {Mark Briers and Arnaud Doucet and Simon Maskell},
  title = {Smoothing Algorithms for State-Space Models},
  journal = {IEEE TRANSACTIONS ON SIGNAL PROCESSING},
  file = {:briers04.pdf:PDF},
  owner = {tiago},
  timestamp = {2013.07.16}
}
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