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Continuous–Discrete Cubature Kalman Filter With Log-Euclide..:

Wang, Jiaolong ; Zhang, Chengxi ; Ahn, Choon Ki..
IEEE Transactions on Circuits and Systems II: Express Briefs.  70 (2023)  11 - p. 4281-4285 , 2023
Link: https://doi.org/10.1109/tcsii.2023.3279140