@inproceedings{Merwe:2000,
  title = "The Unscented Particle Filter",
  author = "Rudolph van der Merwe and Arnaud Doucet and Nando de Freitas and Eric A. Wan",
  year = "2000",
  booktitle = "Advances in Neural Information Processing Systems (NIPS)",
  pages = "584--590",
  url = "http://www.cs.ubc.ca/~nando/papers/upfnips.pdf",
}