Geodesic
Note on approximate non-Gaussian filtering with nonlinear observation relation
Commentationes Mathematicae Universitatis Carolinae, Tome 31 (1990) no. 3, pp. 601-605.

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Classification : 60G35, 62M10, 93E11 
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     author = {Cipra, Tom\'a\v{s}},
     title = {Note on approximate {non-Gaussian} filtering with nonlinear observation relation},
     journal = {Commentationes Mathematicae Universitatis Carolinae},
     pages = {601--605},
     publisher = {mathdoc},
     volume = {31},
     number = {3},
     year = {1990},
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     zbl = {0713.60053},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CMUC_1990__31_3_a19/}
}
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Cipra, Tomáš. Note on approximate non-Gaussian filtering with nonlinear observation relation. Commentationes Mathematicae Universitatis Carolinae, Tome 31 (1990) no. 3, pp. 601-605. http://geodesic.mathdoc.fr/item/CMUC_1990__31_3_a19/