@Article{FaMcKl2009a,
      AUTHOR = {Faubel, Friedrich and McDonough, J. and Klakow, Dietrich},
      TITLE = {The split and merge unscented Gaussian mixture filter},
      YEAR = {2009},
      JOURNAL = {IEEE signal processing letters},
      VOLUME = {16},
      NUMBER = {9},
      PAGES = {786-789},
      NOTE = {DK}
}