@inproceedings {censi08icra,
	author = {Censi, Andrea and Tipaldi, Gian Diego},
	title = {{Lazy Localization using the Frozen Time Smoother}},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2008},
	month = {May},
	pages = {3167{\textendash}3172},
	address = {Pasadena, CA},
	url = {http://www.informatik.uni-freiburg.de/~tipaldi/papers/censi08icra.pdf}
}