@inproceedings{moore2009icra,
    author = {David Moore and Albert S. Huang and Matthew Walter and Edwin Olson and Luke Fletcher and John Leonard and Seth Teller},
    title = {Simultaneous Global and Local State Estimation for Robotic Navigation},
    booktitle = {{Int. Conf. on Robotics and Automation (ICRA)}},
    month = {May},
    year = {2009},
    pages = {3794-3799},
    address = {Kobe, Japan}
}