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