@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}, }