Chanki Kim Wan Kyun Chung Delayed resampling in a Rao-Blackwellized particle filtering SLAM for consistent loop closures. 2084-2090 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4651157 conf/iros/2008 db/conf/iros/iros2008.html#KimC08a