@article {KuGrBu12ar,
	title = {Simultaneous Parameter Calibration, Localization, and Mapping},
	journal = {Advanced Robotics},
	volume = {26},
	number = {17},
	year = {2012},
	pages = {2021{\textendash}2041},
	doi = {10.1080/01691864.2012.728694},
	author = {Kuemmerle, R. and Grisetti, G. and Burgard, W.}
}
