EKF SLAM updates in O(n) with Divide and Conquer SLAM.

Lina María Paz Patric Jensfelt Juan D. Tardós José Neira EKF SLAM updates in O(n) with Divide and Conquer SLAM. 1657-1663 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363561 db/conf/icra/icra2007.html#PazJTN07