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\title{\Large\bf Position Estimation from Outdoor Visual Landmarks \\ 
	for Teleoperation of Lunar Rovers}
\author{\htmladdnormallink{Fabio Cozman}
	   {http://www.cs.cmu.edu/\~{}fgcozman/home.html}
	\hspace{3cm} 
	\htmladdnormallink{Eric Krotkov}
	   {http://www.cs.cmu.edu/\~{}epk} \\ 
	Robotics Institute, Carnegie Mellon University \\ 
	Pittsburgh, PA, 15213 \\ 
	\htmladdnormallink{ \{ fgcozman, epk \}@cs.cmu.edu }
	   {mailto:fgcozman@cs.cmu.edu} } 
\date{}


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\samepage \begin{equation}\label{Likelihood}
p(R |x, y, I) = \prod_{i=1}^m p(r_i|I,\Gamma).
\end{equation}
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