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Circumventing Dynamic Modeling: Evaluation of the Error-State Kalman Filter Applied to Mobile Robot Localization

Stergios I. Roumeliotis, Gaurav S. Sukhatme, George A. Bekey. Circumventing Dynamic Modeling: Evaluation of the Error-State Kalman Filter Applied to Mobile Robot Localization. In ICRA. pages 1656, 1999.

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