@article{hauberg:jmiv:2013,
  title = {Unscented Kalman Filtering on Riemannian Manifolds},
  journal = {Journal of Mathematical Imaging and Vision},
  volume = {46},
  number = {1},
  pages = {103--120},
  publisher = {Springer Netherlands},
  month = may,
  year = {2013},
  author = {Hauberg, S{o}ren and Lauze, Francois and Pedersen, Kim S.},
  doi = {10.1007/s10851-012-0372-9},
  month_numeric = {5}
}