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This brief addresses a new method for autoregressive (AR) parameter estimation from colored noise-corrupted observations using a damped sinusoidal model for autocorrelation function of the noise-free signal. The damped sinusoidal model parameters are first estimated using a least-squares based method from the given noisy observations. The AR parameters are then directly obtained from the damped sinusoidal model parameters. The performance of the proposed scheme is evaluated using numerical examples.