@inproceedings{walter05,
   Title = {A Provably Consistent Method for Imposing Exact Sparsity in Feature-based {SLAM} Information Filters},
   Author = {Walter, M. and Eustice, R. and Leonard, J.},
   Booktitle = {Proceedings of the 12th International Symposium of Robotics Research ({ISRR})},
   Pages = {214-234},
   Publisher = {Springer},
   Month = {October},
   Year = {2005},
   Address = {San Francisco, CA}}