@String { ICCV      = {Intl. Conf. on Computer Vision (ICCV)} }
@String { IROS      = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)} }
@String { CVPR      = {IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)} }
@String { IJRR      = {Intl. J. of Robotics Research} }
@String { RAS       = {Robotics and Autonomous Systems} }
@String { TRO       = {{IEEE} Trans. Robotics} }
@String { IT        = {{IEEE} Trans. Inform. Theory} }
@String { ISRR      = {Proc. of the Intl. Symp. of Robotics Research (ISRR)} }

@inproceedings{Davison03iccv,
  title         =   {Real-Time Simultaneous Localisation and Mapping with a Single Camera},
  author        =   {A.J. Davison},
  booktitle     =   ICCV,
  year          =   {2003},
  month         =   {Oct},
  pages         =   {1403-1410}
}

@inproceedings{Dellaert10iros,
  title         =   {Subgraph-preconditioned Conjugate Gradient for Large Scale SLAM},
  author        =   {F. Dellaert and J. Carlson and V. Ila and K. Ni and C.E. Thorpe},
  booktitle     =   IROS,
  year          =   {2010},
}

@inproceedings{Dellaert99b,
  title         =   {Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization},
  author        =   {F. Dellaert and D. Fox and W. Burgard and S. Thrun},
  booktitle     =   CVPR,
  year          =   {1999}
}

@article{Dellaert06ijrr,
  title         =   {Square {Root} {SAM}: Simultaneous Localization and Mapping via Square Root Information Smoothing},
  author        =   {F. Dellaert and M. Kaess},
  journal       =   IJRR,
  year          =   {2006},
  month         =   {Dec},
  number        =   {12},
  pages         =   {1181--1203},
  volume        =   {25},
}

@article{DurrantWhyte06ram,
  title         =   {Simultaneous Localisation and Mapping ({SLAM}): Part {I} The Essential Algorithms},
  author        =   {H.F. Durrant-Whyte and T. Bailey},
  journal       =   {Robotics \& Automation Magazine},
  year          =   {2006},
  month         =   {Jun},
}

@inproceedings{Jian11iccv,
  title         =   {Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment},
  author        =   {Y.-D. Jian and D. Balcan and F. Dellaert},
  booktitle     =   ICCV,
  year          =   {2011},
}

@article{Kaess09ras,
  title         =   {Covariance Recovery from a Square Root Information Matrix for Data Association},
  author        =   {M. Kaess and F. Dellaert},
  journal       =   RAS,
  year          =   {2009},
}

@article{Kaess12ijrr,
  title         =   {{iSAM2}: Incremental Smoothing and Mapping Using the {B}ayes Tree},
  author        =   {M. Kaess and H. Johannsson and R. Roberts and V. Ila and J. Leonard and F. Dellaert},
  journal       =   IJRR,
  year          =   {2012},
  month         =   {Feb},
  pages         =   {217--236},
  volume        =   {31},
  issue         =   {2},
}

@article{Kaess08tro,
  title         =   {{iSAM}: Incremental Smoothing and Mapping},
  author        =   {M. Kaess and A. Ranganathan and F. Dellaert},
  journal       =   TRO,
  year          =   {2008},
  month         =   {Dec},
  number        =   {6},
  pages         =   {1365-1378},
  volume        =   {24},
}

@book{Koller09book,
  title         =   {Probabilistic Graphical Models: Principles and Techniques},
  author        =   {D. Koller and N. Friedman},
  publisher     =   {The MIT Press},
  year          =   {2009}
}

@Article{Kschischang01it,
  title         =   {Factor Graphs and the Sum-Product Algorithm},
  Author        =   {F.R. Kschischang and B.J. Frey and H-A. Loeliger},
  Journal       =   IT,
  Year          =   {2001},

  Month         =   {February},
  Number        =   {2},
  Volume        =   {47}
}

@article{Loeliger04spm,
  Title         =   {An Introduction to Factor Graphs},
  Author        =   {H.-A. Loeliger},
  Journal       =   {IEEE Signal Processing Magazine},
  Year          =   {2004},

  Month         =   {January},
  Pages         =   {28--41}
}

@inproceedings{Nister04cvpr2,
  title         =   {Visual Odometry},
  author        =   {D. Nist\'er and O. Naroditsky and J. Bergen},
  booktitle     =   CVPR,
  year          =   {2004},
  month         =   {Jun},
  pages         =   {652-659},
  volume        =   {1}
}

@InProceedings{Smith87b,
  title         =   {A stochastic map for uncertain spatial relationships},
  Author        =   {R. Smith and M. Self and P. Cheeseman},
  Booktitle     =   ISRR,
  Year          =   {1988},
  Pages         =   {467-474}
}