Friedrich Faubel and 
   Dietrich Klakow. A transformation-based derivation of the Kalman filter and an extensive unscented transform.  In IEEE/SP 15th Workshop on Statistical Signal Processing, 2009 : SSP ´09 ; Aug. 31, 2009 - Sept. 3, 2009, Cardiff, United Kingdom, Pages 161-164, IEEE, Piscataway, NJ,   2009. Note: DK.
 @InProceedings{FaKl2009,
        AUTHOR = {Faubel, Friedrich and Klakow, Dietrich},
        TITLE = {A transformation-based derivation of the Kalman filter and an extensive unscented transform},
        YEAR = {2009},
        BOOKTITLE = {IEEE/SP 15th Workshop on Statistical Signal Processing, 2009 : SSP ´09 ; Aug. 31, 2009 - Sept. 3, 2009, Cardiff, United Kingdom},
        PAGES = {161-164},
        ADDRESS = {Piscataway, NJ},
        PUBLISHER = {IEEE},
        NOTE = {DK} } 
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