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@INPROCEEDINGS{,
     author = {Blanco, José-Luis and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
      month = oct,
      title = {An Entropy-Based Measurement of Certainty in Rao-Blackwellized Particle Filter Mapping},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS'06)},
       year = {2006},
   location = {Beijing (China)}
}