M. Arulampalam; S. Maskell; N. Gordon; T. Clapp (2002). “A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking”. IEEE Transactions on Signal Processing50 (2): 174. Bibcode: 2002ITSP...50..174A. doi:10.1109/78.978374.
M. Arulampalam; S. Maskell; N. Gordon; T. Clapp (2002). “A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking”. IEEE Transactions on Signal Processing50 (2): 174. Bibcode: 2002ITSP...50..174A. doi:10.1109/78.978374.