@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}
}
