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Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After Actively Closing Loops

Cyrill Stachniss, Giorgio Grisetti, Wolfram Burgard. Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After Actively Closing Loops. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 655-660, IEEE, 2005.

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