Schneider 2013 How to not make the EKF fail

Authors: Schneider, Georgakis URL:  http://www.researchgate.net/publication/263942618_How_To_NOT_Make_the_Extended_Kalman_Filter_Fail/citations DOI 10.1021/ie300415d

Measurement noise R, V (landmark) Kalman filter initial estimates Process noise Q and W (odometry) Kalman filter performance metric