@inproceedings{maier_et_al_icra10,
   author = {D. Maier and A. Kleiner},
   title = {Improved {GPS} Sensor Model for Mobile Robots in Urban Terrain},
   booktitle = {Proc. of the {IEEE} Int. Conf. on Robotics and Automation
	{(ICRA)}},
   pages = {4385--4390},
   address = {Anchorage, Alaska},
   month = may,
   year = {2010}
}