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![Cover for Ballreich · Stable and Efficient Cubature based Filtering in Dynamical Systems (Book) [1st ed. 2017 edition] (2017)](https://imusic.b-cdn.net/images/item/original/296/9783319621296.jpg?ballreich-2017-stable-and-efficient-cubature-based-filtering-in-dynamical-systems-book&class=scaled&v=1528905403)