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Zhu, J.H., Zheng, N.N., Yuan, Z.J. and Zhang, Q. (2009) A SLAM Algorithm Based on the Central Difference Kalman Filter. 2009 IEEE Intelligent Vehicles Symposium, Xi’an, 3-5 June 2009, 123-128. http://dx.doi.org/10.1109/IVS.2009.5164264

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