@inproceedings{kim2017bayesian,
  title={Bayesian estimation based real-time fire-heading in smoke-filled indoor environments using thermal imagery},
  author={Kim, Jong-Hwan and Sung, Yoonchang and Lattimer, Brian Y},
  booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5231--5236},
  year={2017},
  organization={IEEE}
}