@INPROCEEDINGS{Kessler-AMS-2009,
  author = {Kessler, Jens and Koenig, Alexander and Gross, Horst-Michael},
  title = {An Improved Sensor Model on Appearance Based {SLAM}},
  booktitle = {Autonome Mobile Systeme 2009 (AMS)},
  year = {2009},
  pages = {153--160},
  series = {Informatik aktuell},
  publisher = {Springer}
}