@article{simanek2015evaluation,
  title = {Evaluation of the EKF-based estimation architectures for data fusion in mobile robots},
  author = {Simanek, Jakub and Reinstein, Michal and Kubelka, Vladimir},
  journal = {IEEE/ASME Transactions on Mechatronics},
  volume = {20},
  number = {2},
  pages = {985--990},
  year = {2015},
  publisher = {IEEE}
}