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Sub-Map Dividing and Realignment FastSLAM by Blocking Gibbs MCEM for Large-Scale 3-D Grid Mapping

Masashi Yokozuka, Osamu Matsumoto. Sub-Map Dividing and Realignment FastSLAM by Blocking Gibbs MCEM for Large-Scale 3-D Grid Mapping. Advanced Robotics, 26(14):1649-1675, 2012. [doi]

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