@misc{W2020934227,
  author = {Simon Julier and Jeffrey Uhlmann},
  title = {New extension of the Kalman filter to nonlinear systems},
  year = {1997},
  howpublished = {Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE},
  doi = {https://doi.org/10.1117/12.280797}
}