Sensing and Estimation. Christensen, H. I. & Hager, G. In Siciliano, B. & Khatib, O., editors, Handbook of Robotics, 4. Springer Verlag, Berlin Heidelberg New York, May, 2008.
bibtex   
@incollection{Christensen:2008fk,
  Address =	 {Berlin Heidelberg New York},
  Author =	 {H. I. Christensen and G. Hager},
  Booktitle =	 {Handbook of Robotics},
  Chapter =	 {4},
  Date-Added =	 {2010-03-17 13:11:56 -0400},
  Date-Modified ={2010-03-17 13:12:50 -0400},
  Editor =	 {B. Siciliano and O. Khatib},
  Month =	 {May},
  Publisher =	 {Springer Verlag},
  Title =	 {Sensing and Estimation},
  Year =	 {2008}
}

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