Bayesian Hybrid Model-State Estimation Applied to Simultaneous Contact Formation Recognition and Geometrical Parameter Estimation.

Klaas Gadeyne Tine Lefebvre Herman Bruyninckx Bayesian Hybrid Model-State Estimation Applied to Simultaneous Contact Formation Recognition and Geometrical Parameter Estimation. 615-630 2005 24 I. J. Robotic Res. 8 http://ijr.sagepub.com/cgi/content/abstract/24/8/615 db/journals/ijrr/ijrr24.html#GadeyneLB05