MathSciNet bibliographic data MR1928926 62J02 (94A12) Farina, Alfonso; Ristic, Branko; Timmoneri, Luca Cramér-Rao bound for nonlinear filtering with \$P\sb d<1\$$P\sb d<1$ and its application to target tracking. IEEE Trans. Signal Process. 50 (2002), no. 8, 1916–1924. Article

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