@article{robustgaussianfilteringusingapseudo,
  title = {Robust Gaussian Filtering using a Pseudo Measurement},
  author = {Manuel Wüthrich and Cristina Garcia Cifuentes and Sebastian Trimpe and Franziska Meier and Jeannette Bohg and Jan Issac and Stefan Schaal},
  year = {2015},
  eprint = {1509.04072},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1509.04072v3},
}