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@INBOOK{moreno2007pom,
     author = {Moreno, Francisco-Angel and Blanco, José-Luis and Gonzalez-Jimenez, Javier},
      title = {A Probabilistic Observation Model for Stereo Vision Systems: Application to Particle Filter-Based Mapping and Localization},
    journal = {3rd Iberian Conference on Pattern Recognition and Image Analysis},
     series = {LNCS (3rd Iberian Conference on Pattern Recognition and Im. An.)},
     volume = {4477},
       year = {2007},
  publisher = {Springer-Verlag},
       isbn = {978-3-540-72848-1},
      pages = {346--353}
}