Segmental Switching Linear Dynamic Systems. Oh, S. M., Rehg, J. M., & Dellaert, F. Technical Report Georgia Tech College of Computing, 2005.
Segmental Switching Linear Dynamic Systems [link]Paper  bibtex   
@techreport{sang_min_oh_segmental_2005,
	title = {Segmental {Switching} {Linear} {Dynamic} {Systems}},
	url = {https://www.cc.gatech.edu/tech_reports/index.05.html},
	language = {eng},
	institution = {Georgia Tech College of Computing},
	author = {Sang Min Oh and James M. Rehg and Frank Dellaert},
	year = {2005}
}
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