John Mullane Ba-Ngu Vo Martin Adams Ba-Tuong Vo Random Finite Sets for Robot Mapping and SLAM - New Concepts in Autonomous Robotic Map Representations 72 2011 1-136 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/978-3-642-21390-8 978-3-642-21389-2 db/series/star/index.html#MullaneVAV11