@article{hauberg:jmiv:2013, title = {Unscented Kalman Filtering on Riemannian Manifolds}, author = {Hauberg, S{o}ren and Lauze, Francois and Pedersen, Kim S.}, journal = {Journal of Mathematical Imaging and Vision}, volume = {46}, number = {1}, pages = {103--120}, publisher = {Springer Netherlands}, month = may, year = {2013}, doi = {10.1007/s10851-012-0372-9}, month_numeric = {5} }