Jacob Goldberger Hayit Greenspan Jeremie Dreyfuss Simplifying Mixture Models Using the Unscented Transform. 1496-1502 2008 30 IEEE Trans. Pattern Anal. Mach. Intell. 8 http://dx.doi.org/10.1109/TPAMI.2008.100 db/journals/pami/pami30.html#GoldbergerGD08