A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking. Sanjeev Arulampalam, M; Maskell, S; Gordon, N; and Clapp, T IEEE transactions on signal processing, 50(2):174–188, 2002.
bibtex   
@Article{SanjeevArulampalam2002,
author = {Sanjeev Arulampalam, M and Maskell, S and Gordon, N and Clapp, T}, 
title = {A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking}, 
journal = {IEEE transactions on signal processing}, 
volume = {50}, 
number = {2}, 
pages = {174--188}, 
year = {2002}, 
abstract = {}, 
location = {}, 
keywords = {}}
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