@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}}