A floating-point Extended Kalman Filter implementation for autonomous mobile robots.

Vanderlei Bonato Eduardo Marques George A. Constantinides A floating-point Extended Kalman Filter implementation for autonomous mobile robots. 576-579 2007 FPL http://dx.doi.org/10.1109/FPL.2007.4380720 conf/fpl/2007 db/conf/fpl/fpl2007.html#BonatoMC07