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Bennett AB, Leonard JJ.  1999.  Feature-relative navigation of an autonomous underwater vehicle. Proc Int Symp on Unmanned Untethered Submersible Technology.
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Smith CM, Leonard JJ, Bennett AA, Shaw C.  1997.  Feature-based concurrent mapping and localization for AUVs. OCEANS ’97 MTS/IEEE Conference Proceedings. 2:896-901. (309.97 KB)