@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}, }