Frank Dellaert Fernando Alegre Eric Beowulf Martinson Inkrinsic localization and mapping with 2 applications: diffusion mapping and marco polo localization. 2344-2349 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#DellaertAM03 https://doi.org/10.1109/ROBOT.2003.1241943