Feature-based multi-hypothesis localization and tracking using geometric constraints

Author： Arras K.O.   Castellanos J.A.   Schilt M.   Siegwart R.  

Publisher： Elsevier

ISSN： 0921-8890

Source： Robotics and Autonomous Systems, Vol.44, Iss.1, 2003-07, pp. : 41-53

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