José A. Castellanos, Ruben Martinez-Cantin, Juan D. Tardós, José Neira. Robocentric map joining: Improving the consistency of EKF-SLAM. Robotics and Autonomous Systems, 55(1):21-29, 2007. [doi]
@article{CastellanosMTN07,
title = {Robocentric map joining: Improving the consistency of EKF-SLAM},
author = {José A. Castellanos and Ruben Martinez-Cantin and Juan D. Tardós and José Neira},
year = {2007},
doi = {10.1016/j.robot.2006.06.005},
url = {http://dx.doi.org/10.1016/j.robot.2006.06.005},
tags = {consistency},
researchr = {https://researchr.org/publication/CastellanosMTN07},
cites = {0},
citedby = {0},
journal = {Robotics and Autonomous Systems},
volume = {55},
number = {1},
pages = {21-29},
}