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    Development of Localization Tracking System and User Interface of Guiding Robot for the Visually Impaired
    Je Goon Ryu , Dong Fan Shen , Oh Sang Kwon , Nack Hwan Kim , Sang Moo Lee , Eung Hyuk Lee , Seung Hong Hong The KIPS Transactions:PartD, Vol. 12, No. 3, pp. 481-492, Jun. 2005
    10.3745/KIPSTD.2005.12.3.481