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D. Heß and C. Röhrig, “Pose Estimation of Mobile Robots with Quantized Measurements using EFIR Filtering: Experimental comparison with the EKF,” Proceedings of the 50th International Symposium on Robotics ISR 2018. VDE Verband der Elektrotechnik Elektronik Informationstechnik, Frankfurt am Main, pp. 1–7, 2018.