@conference { Tipaldi07covariance,
	title = {Approximated Covariance Estimation in Graphical Approaches to SLAM},
	year = {2007},
	author = {Gian Diego Tipaldi and G. Grisetti and Wolfram Burgard}
}
@conference {Tipaldi07covariance,
	title = {Approximated Covariance Estimation in Graphical Approaches to SLAM},
	year = {2007},
	author = {Gian Diego Tipaldi and Giorgio Grisetti and Wolfram Burgard}
}
@article {Grisetti-06-ras,
	title = {Fast and Accurate {SLAM} with {R}ao-{B}lackwellized Particle Filters},
	journal = {Robotics and Autonomous Systems, Special issue on Simultaneous Localization and Map Building},
	volume = {55},
	number = {1},
	year = {2007},
	pages = {30{\textendash}38},
	author = {Giorgio Grisetti and Gian Diego Tipaldi and Cyrill Stachniss and W. Burgard and Daniele Nardi}
}
@conference { Tipaldi07Data,
	title = {Heterogeneous Feature State Estimation with Rao-Blackwellized Particle Filters},
	booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2007},
	pages = {3850{\textendash}3855},
	author = {Gian Diego Tipaldi and A. Farinelli and L. Iocchi and D. Nardi}
}
