@article{nonlinearkalmanfilteringwithdivergence,
  title = {Nonlinear Kalman Filtering with Divergence Minimization},
  author = {San Gultekin and John Paisley},
  year = {2017},
  eprint = {1705.00722},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1705.00722v1},
}