@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 International Symposium of Robotics Research (ISRR)},
Pages = {214--234},
Publisher = {Springer},
Month = {October},
Year = {2005},
Address = {San Francisco, CA}}