@techreport{Johansson:4056,
    author =       "Johansson, Henrik and Lindsten, Mikael ",
    title =           "Road-constrained target tracking using particle filter",
    institution =       "Department of Electrical Engineering, Linköping University",
    year =          "2008",
    number =          "LiTH-ISY-EX-4056"
}