@inproceedings{walter05,
   Title = {Sparse Extended Information Filters: Insights into Sparsification},
   Author = {Eustice, R. and Walter, M. and Leonard, J.},
   Booktitle = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
   Pages = {641-648},
   Month = {August},
   Year = {2005},
   Address = {Edmonton, Alberta}}