@TechReport{RekleitisTR0402,
  author = 	 {Ioannis M. Rekleitis},
  title = 	 {A Particle Filter Tutorial for Mobile Robot Localization},
  institution =  {Centre for Intelligent Machines, McGill University},
  year = 	 2004,
  number =	 {TR-CIM-04-02},
  address =	 {3480 University St., Montreal, Qu\'ebec, CANADA H3A 2A7}
}