@article{ZhaoTME2021, author = {Zheng Zhao and Toni Karvonen and Roland Hostettler and Simo S\"{a}rkk\"{a}}, title = {Taylor Moment Expansion for Continuous-Discrete {G}aussian Filtering}, journal = {IEEE Transactions on Automatic Control}, volume = {66}, number = {9}, pages = {4460--4467}, year = {2021} }