@article{CTT100584706,
  author = {ICHIRO HAGIWARA and G Cen and Nobuto Matsuhira and J Hirokawa and H Ogawa},
  title = {Improved Particle Filter for Service Robot Self-Localization},
  journal = {the Society of Instrument and Control Engineers (SICE) Journal of Control, Measurement and System Integration},
  year = 2009,
}