Robocentric map joining: Improving the consistency of EKF-SLAM - researchr publication authors

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José A. Castellanos, Ruben Martinez-Cantin, Juan D. Tardós, José Neira. Robocentric map joining: Improving the consistency of EKF-SLAM. Robotics and Autonomous Systems, 55(1):21-29, 2007. [doi]

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