@article{perez2021nested,
  title={Nested {G}aussian filters for recursive {B}ayesian inference and nonlinear tracking in state space models},
  author={P{\'e}rez-Vieites, Sara and M{\'\i}guez, Joaqu{\'\i}n},
  journal={Signal Processing},
  volume={189},
  pages={108295},
  year={2021},
  publisher={Elsevier}
}