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. 2017 May 3;8:15115. doi: 10.1038/ncomms15115

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Improved localization precision by modelling particle motion with the Berglund HMM. (a) Illustration of true, measured (±s.d.) and HMM-refined positions. (b) Relative change of RMSE HMM refinement, for every frame in Fig. 6a, coloured according to the true hidden state.