Stergios I. Roumeliotis Gaurav S. Sukhatme George A. Bekey Circumventing Dynamic Modeling: Evaluation of the Error-State Kalman Filter Applied to Mobile Robot Localization. 1656-1663 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-2.html#RoumeliotisSB99 http://dx.doi.org/10.1109/ROBOT.1999.772597