@InCollection{	  Thrun08handbook,
  title		= {Simultaneous Localization and Mapping},
  booktitle	= {Springer Handbook of Robotics},
  author	= {Thrun, S. and Leonard, J. J.},
  editor	= {Siciliano, B. and Khatib, O.},
  publisher	= {Springer},
  year		= 2008
}