@InProceedings{Stachniss07IROS,
  author = 	 {Cyrill Stachniss and Giorgio Grisetti and Wolfram Burgard and
  Nicholas Roy},
  title = 	 {Analyzing Gaussian Proposal Distributions for Mapping with
  Rao-Blackwellized Particle Filters},
  booktitle =	 {Proceedings of the IEEE/RSJ International Conference on
  Intelligent Robots and Systems (IROS)},
  year =	 {2007},
  address =	 {San Diego},
  month =	 {October},
}