@article{726a1277bf6d499fa62aff66a533c19f,
title = "Continuous-Time and Continuous-Discrete-Time Unscented Rauch-Tung-Striebel Smoothers",
keywords = "continuous-time smoother, unscented Kalman smoother, unscented transformation, continuous-time smoother, unscented Kalman smoother, unscented transformation, continuous-time smoother, unscented Kalman smoother, unscented transformation",
author = "Simo S{\"a}rkk{\"a}",
year = "2010",
doi = "10.1016/j.sigpro.2009.06.012",
language = "English",
volume = "90",
pages = "225--235",
journal = "Signal Processing",
issn = "0165-1684",
publisher = "Elsevier",
number = "1",
}