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 Berger, J, Neufeld, A, Becker, F, Lenzen, F and Schn\'f6rr, C (2015). Second Order Minimum Energy Filtering on SE(3) with Nonlinear Measurement Equations. Scale Space and Variational Methods in Computer Vision (SSVM 2015). Springer International Publishing. http://dx.doi.org/10.1007/978-3-319-18461-6_32\par \par }