@InProceedings{Rosen13icra,
  author =	 {D.M. Rosen and M. Kaess and J.J. Leonard},
  fullauthor =	 {David M. Rosen and Michael Kaess and John
                  J. Leonard},
  title =	 {Robust Incremental Online Inference Over Sparse
                  Factor Graphs: Beyond the {G}aussian Case},
  booktitle =	 {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  address =	 {Karlsruhe, Germany},
  month =	 may,
  year =	 2013,
  note =	 {To appear.},
}