@article{aprobabilisticperspectiveongaussian,
  title = {A Probabilistic Perspective on Gaussian Filtering and Smoothing},
  author = {Marc Peter Deisenroth and Henrik Ohlsson},
  year = {2010},
  eprint = {1006.2165},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1006.2165v5},
}