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@ARTICLE{blanco2008tub,
    author = {Blanco, José-Luis and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
     title = {Towards a Unified Bayesian Approach to Hybrid Metric-Topological SLAM},
   journal = {IEEE Transactions on Robotics},
    volume = {24},
    number = {2},
      year = {2008},
      issn = {1552-3098},
       doi = {10.1109/TRO.2008.918049},
     pages = {259--270}
}