Dual FastSLAM: Dual Factorization of the Particle Filter Based Solution of the Simultaneous Localization and Mapping Problem

@article{RodrguezLosada2009DualFD,
  title={Dual FastSLAM: Dual Factorization of the Particle Filter Based Solution of the Simultaneous Localization and Mapping Problem},
  author={Diego Rodr{\'i}guez-Losada and Pablo San Segundo and Fernando Mat{\'i}a and Luis Pedraza},
  journal={Journal of Intelligent and Robotic Systems},
  year={2009},
  volume={55},
  pages={109-134}
}