@PhdThesis{cadena11phdthesis, author = {Cesar Cadena}, title = {{E}fficient {S}imultaneous {L}ocalisation {A}nd {M}apping in {L}arge and {C}omplex {E}nvironments}, type = {Habilitation}, year = {2011}, school = {Universidad de Zaragoza, Department of Computer Science and Systems Engineering}, URL = {http://webdiis.unizar.es/~ccadena/files/phdthesis_ccadena.pdf}, address = {Zaragoza, Spain}, }