@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}}