@article {grisetti07ras,
	author = {Grisetti, Giorgio and Tipaldi, Gian Diego and Stachniss, Cyrill and Burgard, Wolfram and Nardi, Daniele},
	title = {{Fast and Accurate {SLAM} with Rao-Blackwellized Particle Filters}},
	booktitle = {Robotics and Autonomous Systems, Special Issue on Simultaneous Localization and Map Building},
	volume = {55},
	number = {1},
	year = {2007},
	pages = {30{\textendash}38},
	url = {http://www.informatik.uni-freiburg.de/~tipaldi/papers/grisetti07ras.pdf}
}