@InProceedings{vegabrownICRA13,
  author =       {William Vega-Brown and Abraham Bachrach and Adam Bry and Jonathan Kelly and and Nicholas Roy},
  title =        {CELLO: A Fast Algorithm for Covariance Estimation},
  booktitle =    {Proceedings of the IEEE International Conference on Robotics
and Automation (ICRA 2013)},
  year =         {2013},
  address =      {Karlsruhe, Germany},
}