Particle filtering with range data association for mobile robot localization in environments with repetitive geometry

Lu, Y., Polotski, V., & Sasiadek, J. Z. (2009). Particle filtering with range data association for mobile robot localization in environments with repetitive geometry. Lecture Notes in Control and Information Sciences, 396, 329–338. https://doi.org/10.1007/978-1-84882-985-5_30