@ARTICLE{Bellotto2010,
  author = {N. Bellotto and H. Hu},
  title = {Computationally Efficient Solutions for Tracking People with a Mobile
	Robot: an Experimental Evaluation of Bayesian Filters},
  journal = {Autonomous Robots},
  year = {2010},
  volume = {28},
  pages = {425-438},
  number = {4}
}