Bibliography
[1]  | 
Jos -Luis Blanco, Javier Gonz lez-Jim nez, and Juan-Antonio Fern ndez-Madrigal. An alternative to the mahalanobis distance for determining optimal correspondences in data association. IEEE Transactions on Robotics (T-RO), 28(4), aug 2012.  | 
[2]  | 
Jose-Luis Blanco. Derivation and implementation of a full 6d ekf-based solution to bearing-range slam. University of Malaga, Spain, Technical Report, 2008.  | 
[3]  | 
Jose-Luis Blanco. A tutorial on se (3) transformation parameterizations and on-manifold optimization. University of Malaga, Tech. Rep, 2010.  | 
[4]  | 
Kaj Madsen, Hans Bruun Nielsen, and Ole Tingleff. Methods for non-linear least squares problems. 2004.  | 
[5]  | 
Jos Neira and Juan D Tard s. Data association in stochastic mapping using the joint compatibility test. IEEE Transactions on robotics and automation, 17(6):890 897, 2001.  |