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@inproceedings{Lindsten551250,
   title = {An Explicit Variance Reduction Expression for the Rao-Blackwellised Particle Filter},
   author = {Lindsten, Fredrik and Sch{\"o}n, Thomas and Olsson, Jimmy},
   booktitle = {Proceedings of the 18th IFAC World Congress},
   pages = {11979--11984},
   year = {2011}
}

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