Look-ahead Proposals for Robust Grid-based SLAM with Rao-Blackwellized Particle Filters.

Slawomir Grzonka Christian Plagemann Giorgio Grisetti Wolfram Burgard Look-ahead Proposals for Robust Grid-based SLAM with Rao-Blackwellized Particle Filters. 191-200 2009 28 I. J. Robotic Res. 2 http://dx.doi.org/10.1177/0278364908097579 db/journals/ijrr/ijrr28.html#GrzonkaPGB09