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A solution to SLAM problems by simultaneous estimation of kinematic parameters including sensor mounting offset with an augmented UKF

Shoichi Maeyama, Yuta Takahashi, Keigo Watanabe. A solution to SLAM problems by simultaneous estimation of kinematic parameters including sensor mounting offset with an augmented UKF. Advanced Robotics, 29(17):1137-1149, 2015. [doi]

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