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Analysis of Rank-Based Resampling Based on Particle Diversity in the Rao-Blackwellized Particle Filter for Simultaneous Localization and Mapping

Nosan Kwak, Kazuhito Yokoi, Beom Hee Lee. Analysis of Rank-Based Resampling Based on Particle Diversity in the Rao-Blackwellized Particle Filter for Simultaneous Localization and Mapping. Advanced Robotics, 24(4):585-604, 2010. [doi]

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