@inproceedings{moore09,
   Title = {Simultaneous Local and Global State Estimation for Robotic Navigation},
   Author = {Moore, D.C. and Huang, A.S. and Walter, M. and Olson, E. and Fletcher, L. and Leonard, J. and Teller, S.},
   Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
   Pages = {3794--3799},
   Address = {Kobe, Japan},
   Month = {May},
   Year = {2009}}