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S. Williams, Newman, B., Dissanayake, P., and Gamini, D. W., Autonomous underwater simultaneous localisation and map building, in Proceedings: 2000 IEEE International Conference on Robotics and Automation April 24-28, 2000, San Francisco Hilton Hotel, San Francisco, California, vol. 2, Piscataway, N.J.: IEEE, 2000, pp. 1793–1798.