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MR898707 93E11 (58G32 60G35 93E10)
Antonelli, P. L.; Elliott, R. J.; Seymour, R. M. Nonlinear filtering and Riemannian scalar curvature, ${\bf R}$. Adv. in Appl. Math. 8 (1987), no. 3, 237–253.
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