00346nas a2200109   4500000000100000000000100001008004100002100001800043700001800061700002200079245013500101       2005                            d1 aKlaas Gadeyne1 aTine Lefebvre1 aHerman Bruyninckx00aBayesian Hybrid Model-State Estimation Applied to Simultaneous Contact Formation Recognition and Geometrical Parameter Estimation