J. A. Castellanos, J. Neira, and J. D. Tardos, Limits to consistency of the EKF-based SLAM, Intelligent Autonomous Vehicle, 2004.

K. S. Chong and L. Kleeman, Accurate odometry and error modelling for a mobile robot, Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA97), 1997.

R. M. Eustice, H. Singh, and J. J. Leonard, Exactly Sparse Delayed-State Filters for View-Based SLAM, IEEE Transactions on Robotics, vol.22, issue.6, 2006.
DOI : 10.1109/TRO.2006.886264
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.109.907

G. Grisetti, C. Stachniss, S. Grzonka, and W. Bugard, A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent, Robotics: Science and Systems III, 2007.
DOI : 10.15607/RSS.2007.III.009
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.110.7620

S. Julier and J. K. Uhlmann, A counter example to the theory of simultaneous localization and map building, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001.
DOI : 10.1109/ROBOT.2001.933280

A. Martinelli and R. Siegwart, Exploiting the Information at the Loop Closure in SLAM, Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007.
DOI : 10.1109/ROBOT.2007.363624
URL : https://hal.archives-ouvertes.fr/inria-00359936

A. Martinelli, N. Tomatis, and R. Siegwart, Simultaneous localization and odometry self calibration for mobile robot, Autonomous Robots, vol.22, issue.1, pp.75-85, 2007.
DOI : 10.1007/s10514-006-9006-7
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.89.5813

E. Olson, J. Leonard, and S. Teller, Fast iterative alignment of pose graphs with poor initial estimates, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006.
DOI : 10.1109/ROBOT.2006.1642040