@article{walter07,
   Title = {Exactly Sparse Extended Information Filters for Feature-based {SLAM}},
   Author = {Walter, M.R. and Eustice, R.M. and Leonard, J.J.},
   Journal = {International Journal of Robotics Research},
   Volume = {26},
   Number = {4},
   Pages = {335--359},
   Month = {April},
   Year = {2007}}