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@Article{tornqvistSKG:2008,
  author = 	 {Törnqvist, David and Schön, Thomas B. and Karlsson, Rickard and Gustafsson, Fredrik},
  title = 	 {Particle Filter {SLAM} with High Dimensional Vehicle Model},
  journal = 	 {Journal of Intelligent and Robotic Systems},
  year = 	 2009,
  volume = 	 55,
  number = 	 4,
  pages = 	 {249--266}}