@article{ETD,
      school = {Ph.D.},
      author = {Paul, Anindya S.},
      url = {http://digitalcollections.ohsu.edu/record/486},
      title = {Sigma-point Kalman smoothing: algorithms and analysis with  applications to indoor tracking.},
      number = {ETD},
      doi = {https://doi.org/10.6083/M42J68T9},
      recid = {486},
      address = {2010},
}