Geodesic
Stochastic differential equations for the non linear filtering problem
Matematika, Tome 17 (1973) no. 2, pp. 108-128.

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     author = {M. Fujisaki and G. Kallianpur and H. Kunita},
     title = {Stochastic differential equations for the non linear filtering problem},
     journal = {Matematika},
     pages = {108--128},
     publisher = {mathdoc},
     volume = {17},
     number = {2},
     year = {1973},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/MAT_1973_17_2_a5/}
}
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M. Fujisaki; G. Kallianpur; H. Kunita. Stochastic differential equations for the non linear filtering problem. Matematika, Tome 17 (1973) no. 2, pp. 108-128. http://geodesic.mathdoc.fr/item/MAT_1973_17_2_a5/