@article{poserbpfaraoblackwellizedparticlefilter,
  title = {PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking},
  author = {Xinke Deng and Arsalan Mousavian and Yu Xiang and Fei Xia and Timothy Bretl and Dieter Fox},
  year = {2019},
  eprint = {1905.09304},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1905.09304v1},
}