@inproceedings {grisetti06icra,
	author = {Grisetti, Giorgio and Tipaldi, Gian Diego and Stachniss, Cyrill and Burgard, Wolfram and Nardi, Daniele},
	title = {{Speeding Up Rao Blackwellized SLAM}},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2006},
	address = {Orlando, USA},
	url = {http://www.informatik.uni-freiburg.de/~tipaldi/papers/grisetti06icra.pdf}
}