@inproceedings {tipaldi07iros,
	author = {Tipaldi, Gian Diego and Grisetti, Giorgio and Burgard, Wolfram},
	title = {{Approximated Covariance Estimation in Graphical Approaches to SLAM}},
	booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2007},
	address = {San Diego, USA},
	url = {http://www.informatik.uni-freiburg.de/~tipaldi/papers/tipaldi07iros.pdf}
}