@article {IOPORT.50066573,
    author       = {Sun, Zuolei and Van De Ven, Joop and Ramos, Fabio and Mao, Xuchu and Durrant-Whyte, Hugh F.},
    title        = {Inferring laser-scan matching uncertainty with conditional random fields},
    year         = {2012},
    journal      = {Robotics and Autonomous Systems},
    volume       = {60},
    number       = {1},
    pages        = {83-94},
    doi          = {10.1016/j.robot.2011.09.001},
    identifier   = {50066573},
}