A Variational inference method for Switching Linear Dynamic Systems. Oh, S. M., Ranganathan, A., Rehg, J. M., & Dellaert, F. Technical Report GVU, 2005.
A Variational inference method for Switching Linear Dynamic Systems [link]Paper  bibtex   
@techreport{sang_min_oh_variational_2005,
	title = {A {Variational} inference method for {Switching} {Linear} {Dynamic} {Systems}},
	url = {https://www.cc.gatech.edu/gvu/research/tr/tr05_16.html},
	language = {eng},
	institution = {GVU},
	author = {Sang Min Oh and Ananth Ranganathan and James M. Rehg and Frank Dellaert},
	year = {2005}
}
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