Andreas Nüchter 3D Robotic Mapping - The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom 52 2009 1-176 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/978-3-540-89884-9 978-3-540-89883-2 db/series/star/index.html#Nuchter09