@article {tipaldi13ijrr,
	author = {Tipaldi, Gian Diego and Meyer-Delius, Daniel and Burgard, Wolfram},
	title = {{Lifelong localization in changing environments}},
	booktitle = {International Journal of Robotics Research},
	volume = {32},
	number = {14},
	year = {2013},
	month = {December}
}