A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots. Thrun, S., Fox, D., & Burgard, W. Machine Learning, 31:29–53, 1998.
bibtex   
@ARTICLE{Thrun98c,
  AUTHOR        = {S. Thrun and D. Fox and W. Burgard},
  YEAR          = {1998},
  TITLE         = {A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots},
  JOURNAL       = ml,
  VOLUME        = {31},
  PAGES         = {29--53}
}

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