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{thrun:mlj98,
	Author = {Sebastian Thrun and Dieter Fox and Wolfram Burgard},
	Journal = {Machine Learning},
	Pages = {29--53},
	Title = {A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots},
	Volume = {31},
	Year = {1998}}

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