@article{Cadena2010ras,
title = "{SLAM} in {O(log n)} with the Combined Kalman-Information Filter",
journal = "Robotics and Autonomous Systems",
volume = "58",
number = "11",
pages = "1207-1219",
year = "2010",
note = "",
issn = "0921-8890",
doi = "DOI: 10.1016/j.robot.2010.08.003",
url = "http://www.sciencedirect.com/science/article/B6V16-50YK84G-1/2/f6ed529250439bcf578808106bb61384",
author = "C. Cadena and J. Neira",
fullauthor = "Cesar Cadena and Jos{\'e} Neira",
}