@INPROCEEDINGS{schulz2003people,
  author    = "Dirk Schulz and Dieter Fox and Jeffrey Hightower",
  title     = "People Tracking with Anonymous and ID-Sensors using Rao-Blackwellised Particle Filters",
  booktitle = "Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence (IJCAI)",
  publisher = "Morgan Kauffman",
  pages     = "921-926",
  month     = "August",
  year      = {2003}
}