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    • A Systematization of the Unscented Kalman Filter Theory 

      Menegaz H.M.T.; Ishihara J.Y.; Borges G.A.; Vargas A.N. (IEEE Transactions on Automatic Control, 2015-12-31)
      In this paper, we propose a systematization of the (discrete-time) Unscented Kalman Filter (UKF) theory. We gather all available UKF variants in the literature, present corrections to theoretical inconsistencies, and provide ...