Paper  bibtex   

@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}
}