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Presently, two kinds of least-squares (LS) vertex fits are implemented in the ORCA reconstruction program (http://cmsdoc.cern.ch/orca) of the CMS experiment (http://cmsinfo.cern.ch): a full Kalman filter, and an iterative fit working with the impact points of the tracks with respect to an expansion point. In this contribution we concentrate on nonlinear, robust estimators which are insensitive to...
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