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@ARTICLE{blanco2010ofn,
    author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio},
     month = {{{{{{dec}}}}}},
     title = {Optimal Filtering for Non-Parametric Observation Models: Applications to Localization and SLAM},
   journal = {The International Journal of Robotics Research (IJRR)},
    volume = {29},
    number = {14},
      year = {2010},
       url = {http://ijr.sagepub.com/content/29/14/1726.full.pdf},
       doi = {10.1177/0278364910364165}
}