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Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates. icra. :2262-2269.. 2006.
Feature-based concurrent mapping and localization for AUVs. OCEANS ’97 MTS/IEEE Conference Proceedings. 2:896-901.. 1997.
Feature-relative navigation of an autonomous underwater vehicle. Proc Int Symp on Unmanned Untethered Submersible Technology.. 1999.