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S. Huang, Z. Wang, G. Dissanayake and U. Frese, “Iterated D-SLAM Map Joining: Evaluating Its Performance in Terms of Consistency, Accuracy and Efficiency,” Autonomous Robots, Vol. 27, No. 4, 2009, pp. 409-429. Udoi:10.1007/s10514-009-9153-8U

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