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http://isas.uka.de/Publikationen/Fusion10_EberhardtKlumpp.pdf
Anchor text: Henning Eberhardt, Vesa Klumpp, Uwe D. Hanebeck, ''Density Trees for Efficient Nonlinear State Estimation'', Proceedings of the 13th International Conference on Information Fusion, Edinburgh, United Kingdom, July, 2010.