@inproceedings{ananth_ranganathan_rao-blackwellized_2006, title = {A {Rao}-{Blackwellized} {Particle} {Filter} for {Topological} {Mapping}}, url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan06icra.pdf}, language = {eng}, author = {Ananth Ranganathan and Frank Dellaert}, year = {2006} }