A Rao-Blackwellized Particle Filter for Topological Mapping. Ranganathan, A. and Dellaert, F. In 2006.
A Rao-Blackwellized Particle Filter for Topological Mapping [pdf]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}
}
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