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@INPROCEEDINGS{,
     author = {Gonzalez-Jimenez, Javier and Stentz, A. and Ollero, Anibal},
      title = {An Iconic Position Estimator for a 2D Laser  Range Finder},
  booktitle = {IEEE Int. Conference on Robotics and Automation (ICRA’92)},
       year = {1992},
   location = {Nice, France}
}