@Article{SchonGN:2005,
  author = 	 {Sch{\"o}n, T. and Gustafsson, F. and Nordlund, P.-J.},
  title = 	 {Marginalized Particle Filters for Mixed
                  Linear/Nonlinear State-Space Models},
  journal = 	 {IEEE Transactions on Signal Processing},
  year = 	 {2005},
  volume = 	 {53},
  number = 	 {7},
  pages = 	 {2279--2289},
  month = 	 jul
}