@InProceedings{	  luft17iros,
  author	= {Lukas Luft* and Alexander Schaefer* and Tobias Schubert
		  and Wolfram Burgard},
  title		= {Closed-Form Full Map Posteriors for Robot Localization
		  with Lidar Sensors},
  booktitle	= {IEEE/RSJ International Conference on Intelligent Robots
		  and Systems (IROS)},
  year		= {2017},
  month		= {September},
  pages		= {6678-6684},
  doi		= {10.1109/IROS.2017.8206583},
  url		= {http://ais.informatik.uni-freiburg.de/publications/papers/luft17iros.pdf}
}