@article {jeon2009kinematic,
	title = {Kinematic Kalman filter (KKF) for robot end-effector sensing},
	journal = {Journal of dynamic systems, measurement, and control},
	volume = {131},
	number = {2},
	year = {2009},
	pages = {021010},
	publisher = {American Society of Mechanical Engineers},
	author = {Jeon, Soo and Tomizuka, Masayoshi and Katou, Tetsuaki}
}
