@inproceedings{premaratneetal09icif, title={A Dempster-Shafer theoretic conditional approach to evidence updating for fusion of hard and soft data}, author={K. Premaratne and M. Murthi and J. Zhang and M. Scheutz and P. Bauer}, year={2009}, booktitle={Proceedings of ICIF}, url={https://hrilab.tufts.edu/publications/premaratneetal09icif.pdf} }