SLAM with Expectation Maximization for Moveable Object Tracking. Rogers III, J. G., Trevor, A. J. B., Nieto-Granda, C., & Christensen, H. I. In IROS, pages 2077–2082, Taiwan, Oct, 2010. IEEE.
bibtex   
@inproceedings{iii10:slamexpecmaximmoveabobjectrack,
 address = {Taiwan},
 author = {J. G. {Rogers III} and A. J. B. Trevor and C. Nieto-Granda and H. I. Christensen},
 booktitle = {IROS},
 date-modified = {2011-11-17 22:32:56 +0000},
 month = {Oct},
 organization = {IEEE},
 pages = {2077--2082},
 title = {SLAM with Expectation Maximization for Moveable Object Tracking},
 type = {Conference},
 year = {2010}
}

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