@INPROCEEDINGS{CADENA-ECMR2009,
  author = {C. Cadena and F. Ramos and J. Neira},
  title = {{Efficient large scale SLAM including data association using the
	Combined Filter}},
  booktitle = {European Conference on Mobile Robotics (ECMR)},
  year = {2009},
  address ={Mlini/Dubrovnik, Croatia},
  month = {September}
}