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A Robust Computational Test for Overlap of Two Arbitrary-dimensional Ellipsoids in Fault-Detection of Kalman Filters https://tisl.cs.toronto.edu/publication/201207-fusion-kalman_filter_fault_detection/
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A Robust Computational Test for Overlap of Two Arbitrary-dimensional Ellipsoids in Fault-Detection of Kalman Filters https://tisl.cs.toronto.edu/publication/201207-fusion-kalman_filter_fault_detection/
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