@ARTICLE{Bellotto2010a,
  author = {N. Bellotto and H. Hu},
  title = {A Bank of Unscented Kalman Filters for Multimodal Human Perception
  with Mobile Service Robots},
  journal = {International Journal of Social Robotics},
  year = {2010},
  volume = {2},
  pages = {121-136},
  number = {2}
}