@INPROCEEDINGS{CADENA-IROS2009,
  author = {C. Cadena and J. Neira},
  title = {{SLAM in O(log n) with the Combined Kalman - Information Filter}},
  booktitle = {IEEE/RSJ International Conference on Intelligent RObots and Systems},
  year = {2009},
  address ={St. Louis, USA},
  month = {October}
}