@ARTICLE{fessler:91:nfi-nonlin,
 author = {J. A. Fessler},
 title = {Nonparametric fixed-interval smoothing of nonlinear vector-valued measurements},
 journal = {{IEEE Trans. Sig. Proc.}},
 volume = 39,
 number = 4,
 pages = {{907--13}},
 month = apr,
 doi = {10.1109/78.80913},
 year = 1991
}

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