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The initialization                    scheme extends previous approaches for identifying new confirmed features and is                    shown to improve the steady-state performance of the filter by incorporating                    tentative features into the filter as soon as they are observed. Constraints are                    then applied between multiple feature estimates when a feature is confirmed.                    Observations that are subsequently deemed as spurious are removed from the state                    vector after an appropriate timeout. It is shown that information that would                    otherwise be lost can therefore be used consistently in the filter. Results of                    this algorithm applied to data collected using a submersible vehicle are also shown.<\/jats:italic>\n                  <\/jats:p>","DOI":"10.1177\/02783649030227006","type":"journal-article","created":{"date-parts":[[2003,8,27]],"date-time":"2003-08-27T00:43:34Z","timestamp":1061945014000},"page":"541-564","source":"Crossref","is-referenced-by-count":7,"title":["Constrained Initialization of the Simultaneous Localization and Mapping Algorithm"],"prefix":"10.1177","volume":"22","author":[{"given":"Stefan B.","family":"Williams","sequence":"first","affiliation":[{"name":"Australian Centre for Field Robotics, J04 The University of Sydney, 2006,                        Australia,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hugh","family":"Durrant-Whyte","sequence":"additional","affiliation":[{"name":"Australian Centre for Field Robotics, J04 The University of Sydney, 2006,                        Australia,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gamini","family":"Dissanayake","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering University of                        Technology Sydney, 2006, Australia,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2003,7]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.88101"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087032"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.795798"},{"key":"e_1_2_1_4_1","doi-asserted-by":"crossref","unstructured":"Castellanos J. 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