A Rao-Blackwellized particle filter for eigentracking - Khan, Z.; Balch, T.; Dellaert, F. (Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004.Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004., 2004)