@misc{W2160337655,
  author = {M.S. Arulampalam and Simon Maskell and Neil Gordon and Tim C Clapp},
  title = {A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking},
  year = {2002},
  howpublished = {IEEE Transactions on Signal Processing},
  doi = {https://doi.org/10.1109/78.978374}
}