Simon Julier, Jeffrey K. Uhlmann. Using covariance intersection for SLAM. Robotics and Autonomous Systems, 55(1):3-20, 2007. [doi]
@article{JulierU07,
title = {Using covariance intersection for SLAM},
author = {Simon Julier and Jeffrey K. Uhlmann},
year = {2007},
doi = {10.1016/j.robot.2006.06.011},
url = {http://dx.doi.org/10.1016/j.robot.2006.06.011},
researchr = {https://researchr.org/publication/JulierU07},
cites = {0},
citedby = {0},
journal = {Robotics and Autonomous Systems},
volume = {55},
number = {1},
pages = {3-20},
}