@InProceedings{triebel05:improving,
  author = 	 {Rudolph Triebel and Wolfram Burgard},
  title = 	 {Improving Simultaneous Mapping and Localization in 3D Using Global Constraints},
  booktitle = 	 {"Proc.~of the National Conference on Artificial Intelligence (AAAI)"},
  year =	 2005
}