@inproceedings{burgard09iros,
   author = {W. Burgard and C. Stachniss and G. Grisetti and B. Steder and
	R. K{\"u}mmerle and C. Dornhege and M. Ruhnke and A. Kleiner and
	Juan D. Tard{\'o}s},
   title = {A Comparison of SLAM Algorithms Based on a Graph of Relations},
   booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots
	and Systems (IROS)},
   address = {St. Louis, MO, USA},
   month = oct,
   year = {2009},
   note = {(To appear)},
   url =
    {http://www.informatik.uni-freiburg.de/~ki/papers/burgard-etal-iros09.pdf}
}