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Springer Handbook of Ocean Engineering
Autonomous Underwater Vehicle Navigation
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Factor graphs and the sum-product algorithm
F.R. Kschischang, B.J. Frey, H.-A. Loeliger (2001)
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A solution to the simultaneous localization and map building (SLAM) problem
M.W.M.G. Dissanayake, Joseph P Newman, Ann Clark … (2001)