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@techreport{Lindsten650636,
   author = {Lindsten, Fredrik and Sch{\"o}n, Thomas and Olsson, Jimmy},
   institution = {Linköping University, Automatic Control},
   institution = {Linköping University, The Institute of Technology},
   institution = {Lund University, Sweden},
   pages = {6},
   title = {An Explicit Variance Reduction Expression for the Rao-Blackwellised Particle Filter},
   series = {LiTH-ISY-R},
   number = {2979},
   year = {2010}
}

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