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Raykar VC, Duraiswami R.  2005.  Approximate expressions for the mean and the covariance of the maximum likelihood estimator for acoustic source localization. Acoustics, Speech, and Signal Processing, 2005. Proceedings. (ICASSP '05). IEEE International Conference on. 3:iii/73-iii/76Vol.3-iii/73-iii/76Vol.3.