Juan Andrade-Cetto Alberto Sanfeliu Environment Learning for Indoor Mobile Robots - A Stochastic State Estimation Approach to Simultaneous Localization and Map Building 23 2006 1-130 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/11418382 978-3-540-32795-0 db/series/star/index.html#Andrade-CettoS06