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Juan Andrade; T. Alejandra Vidal; A. Sanfeliu Stochastic state estimation for simultaneous localization and map building in mobile robotics 2005 Vedran Kordic, Aleksandar Lazinica, and Munir Merdan (Eds.), Cutting Edge Robotics, Advanced Robotic Systems Press, 3.3:223–242 details   openurl
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