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Conditional Particle Filters for Simultaneous Mobile Robot Localization and People-Tracking

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Thispaperprovideslinear-timealgorithmsforsolvingaclassofminimizationproblemsin- volvingacostfunctionwithbothlocalandspatialterms.Theseproblemscanbeviewedas ageneralizationofclassicaldistancetransformsofbinary images,wherethebinaryimageis