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The KulmanJilter is a very eficient optimal$ltel; however it has the precondition that the noises of the process and of the measurement are Gaussian. In this paper we introduce 'The General Distribution Filter' which is an optimal jilter that can be used even where the distributions are not Gaussian. An eficient practical implementation of theJilter is possible where the distributions are discrete and compact or can be approximated as such. The problem is that when the measurement is not adoi:10.1109/cvpr.1997.609395 dblp:conf/cvpr/RosenbergW97 fatcat:7qcqqbq6cndqhfyfrzea2ou65y