@article{eustice06,
   Title = {Visually Mapping the {RMS Titanic}: {Conservative} Covariance Estimates for {SLAM} Information Filters},
   Author = {Eustice, R.M. and Singh, H. and Leonard, J.J. and Walter, M.R.},
   Journal = {International Journal of Robotics Research},
   Volume = {25},
   Number = {12},
   Pages = {1223--1242},
   Month = {December},
   Year = {2006}}