@inproceedings {PUBA141,
	title = {Incorporating Environmental Knowledge into Bayesian Filtering using Attractor Functions},
	author = {Andreas Alin AND Martin Butz AND Jannik Fritsch},
	year = {2012},
	month = {June},
	publisher = {IEEE},
	booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
	address = {Alcala de Henares, Spain}
}