A Statistical approach to simultaneous mapping and localization for mobile robots. Araneda, A., Fienberg, S., & Soto, A. The Annals of Applied Statistics, 1(1):66-84, 2007.
A Statistical approach to simultaneous mapping and localization for mobile robots [link]Paper  bibtex   
@Article{	  araneda:fienberg:soto:2007,
  author	= {A. Araneda and S. Fienberg and A. Soto},
  title		= {A Statistical approach to simultaneous mapping and
		  localization for mobile robots},
  journal	= {The Annals of Applied Statistics},
  volume	= {1},
  number	= {1},
  pages		= {66-84},
  year		= {2007},
  abstract	= {},
  url		= {}
}

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