@article{JMLR:v7:barber06a,
  author  = {David Barber},
  title   = {Expectation Correction for Smoothed Inference in Switching Linear Dynamical Systems},
  journal = {Journal of Machine Learning Research},
  year    = {2006},
  volume  = {7},
  number  = {89},
  pages   = {2515--2540},
  url     = {http://jmlr.org/papers/v7/barber06a.html}
}