@article{abayesianfilteringalgorithmforgaussian,
  title = {A Bayesian Filtering Algorithm for Gaussian Mixture Models},
  author = {Adrian G. Wills and Johannes Hendriks and Christopher Renton and Brett Ninness},
  year = {2017},
  eprint = {1705.05495},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1705.05495v2},
}