@booklet {Berger-et-al-2015b, title = {Second-Order Recursive Filtering on the Rigid-Motion Lie Group SE(3) Based on Nonlinear Observations}, year = {2015}, note = {ArXiv, preprint}, url = {http://arxiv.org/abs/1507.06810}, author = {Johannes Berger and Lenzen, Frank and Florian Becker and Neufeld, Andreas and Christoph Schn{\"o}rr} }