A Rao-Blackwellized Particle Filter for EigenTracking. Khan, Z.; Balch, T.; and Dellaert, F. In 2004.
A Rao-Blackwellized Particle Filter for EigenTracking [pdf]Paper  bibtex   
@inproceedings{zia_khan_rao-blackwellized_2004,
	title = {A {Rao}-{Blackwellized} {Particle} {Filter} for {EigenTracking}},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Khan04cvpr.pdf},
	language = {eng},
	author = {Zia Khan and Tucker Balch and Frank Dellaert},
	year = {2004}
}
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