Frédéric Mustière Martin Bouchard Miodrag Bolic Low-cost modifications of Rao-Blackwellized particle filters for improved speech denoising. 2678-2692 2008 88 Signal Processing 11 http://dx.doi.org/10.1016/j.sigpro.2008.05.006 db/journals/sigpro/sigpro88.html#MustiereBB08