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Röwekämper, J., Sprunk, C., Tipaldi, G.D., Stachniss, C., Pfaff, P. and Burgard, W., (2012) On the Position Accuracy of Mobile Robot Localization Based on Particle Filters Combined with Scan Matching. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, 7-12 October 2012, 3158-3164.
https://doi.org/10.1109/IROS.2012.6385988

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