@article {Berger2017,
	title = {{Second-Order Recursive Filtering on the Rigid-Motion Lie Group SE(3) Based on Nonlinear Observations},
	journal = {J. Math. Imag. Vision},
	volume = {58},
	number = {1},
	year = {2017},
	pages = {102{\textendash}129},
	author = {Johannes Berger and Lenzen, F. and Florian Becker and Neufeld, A. and Schn{\"o}rr, C.}
}
