@misc{W2121990344,
  author = {Simon Julier and Jeffrey Uhlmann and Hugh Durrant‐Whyte},
  title = {A new method for the nonlinear transformation of means and covariances in filters and estimators},
  year = {2000},
  howpublished = {IEEE Transactions on Automatic Control},
  doi = {https://doi.org/10.1109/9.847726}
}