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S. Ahn, J. Choi, N. L. Doh and W. K. Chung, “A Practical Approach for EKF-SLAM in an Indoor Environment: Fusing Ultrasonic Sensors and Stereo Camera,” Autonomous Robots, Vol. 24, No.3, 2008, pp. 315-335. Udoi:10.1007/s10514-007-9083-2U

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