Peter W. Gibbens, M. W. M. G. Dissanayake, Hugh F. Durrant-Whyte. A closed form solution to the single degree of freedom simultaneous localisation and map building (SLAM) problem. In 39th IEEE Conference on Decision and Control, CDC 2000, Sydney, Australia, December 12-15, 2000. pages 191-196, IEEE, 2000. [doi]
Abstract is missing.