@inproceedings {tipaldi07icra,
	author = {Tipaldi, Gian Diego and Farinelli, Alessandro and Iocchi, Luca and Nardi, Daniele},
	title = {{Heterogeneous Feature State Estimation with Rao-Blackwellized Particle Filters}},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2007},
	address = {Rome, Italy},
	url = {http://www.informatik.uni-freiburg.de/~tipaldi/papers/tipaldi07icra.pdf}
}