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J. Lategahn, T. Ax, and C. Röhrig, "Indoor person localization on topological building plans using a multi-hypothesis Kalman filter," in Schriftenreihe des Faculty of Computer Science der Fachhochschule Dortmund, vol. 2, Münster: Verlagshaus Monsenstein und Vannerdat, 2016, pp. 9-20.