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    ICRA
    2009
    IEEE
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    On the complexity and consistency of UKF-based SLAM
    14 years 2 months ago
    On the complexity and consistency of UKF-based SLAM
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    — This paper addresses two key limitations of the unscented Kalman filter (UKF) when applied to the simultaneous localization and mapping (SLAM) problem: the cubic, in the numbe...
    Guoquan Huang, Anastasios I. Mourikis, Stergios I....
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