Position estimation and tracking using optical range data

@inproceedings{Borthwick1993PositionEA,
  title={Position estimation and tracking using optical range data},
  author={Stephen Borthwick and Michael Stevens and Hugh F. Durrant-Whyte},
  booktitle={IROS},
  year={1993}
}
With the use of a scanning optical ranger, a dense map of an environment has been constriicted. From this, line segment targets are extracted and matched a g a i n s t an a prtorr map to obtain observations for anflxtended Kalman n able to update predicion ( m a d e using odomeg high speed position estimation using inexpensive sens ing techniques. 
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