@article{
 title = {Simultaneous localization and mapping: Part I},
 type = {article},
 year = {2006},
 pages = {99-108},
 volume = {13},
 month = {6},
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 author = {Durrant-Whyte, Hugh and Bailey, Tim},
 doi = {10.1109/MRA.2006.1638022},
 journal = {IEEE Robotics and Automation Magazine},
 number = {2}
}

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