@article{Cadena16tro-SLAMfuture,
 title = {Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age},
 author = {C. Cadena and L. Carlone and H. Carrillo and Y. Latif and D. Scaramuzza and J. Neira and I. Reid and J.J. Leonard},
 journal = {{IEEE Transactions on Robotics}},
 year = {2016},
 number = {6},
 pages  = {1309--1332},
 volume = {32},
}