M. Altermatt, A. Martinelli, N. Tomatis, and R. Siegwart, Slam with Corner Features Based on a Relative Map, Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1053-1058, 2004.

J. Andrade-cetto and A. Sanfeliu, The effects of partial observability in SLAM, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.397-402, 2004.
DOI : 10.1109/ROBOT.2004.1307182

J. Andrade-cetto, T. Vidal-calleja, and A. Sanfeliu, Unscented Transformation of Vehicle States in SLAM, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.324-339, 2005.
DOI : 10.1109/ROBOT.2005.1570139

K. O. Arras and R. Siegwart, <title>Feature extraction and scene interpretation for map-based navigation and map building</title>, Mobile Robots XII, pp.42-53, 1997.
DOI : 10.1117/12.299565

K. O. Arras, An Introduction To Error Propagation : Derivation, Meaning and Examples of Equation, 1998.

O. Aycard, F. Charpillet, D. Fohr, and J. F. Mari, Real Time Self Localization in Unknown Indoor Environments using a Panorama Laser Range Finder, Proceedings, IEEE International Conference on Intelligent Robots and Systems, pp.697-702, 1997.

T. Bailey, Mobile robot Localisation and Mapping in extensive Outdoor Environments, 2002.

T. Bailey and H. Durrant-whyte, Simultaneous localization and mapping (SLAM): part II, IEEE Robotics & Automation Magazine, vol.13, issue.3, pp.108-117, 2006.
DOI : 10.1109/MRA.2006.1678144

T. Bailey, E. M. Nebot, J. K. Rosenblatt, and H. F. Durrant-whyte, Data association for mobile robot navigation: a graph theoretic approach, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2000.
DOI : 10.1109/ROBOT.2000.846406

T. Bailey, J. Nieto, J. Guivant, M. Stevens, and E. Nebot, Consistency of the EKF-SLAM Algorithm, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3562-3568, 2006.
DOI : 10.1109/IROS.2006.281644

Y. Bar-shalom, X. R. Li, and T. Kirubarajan, Estimation with Applications To Tracking and Navigation
DOI : 10.1002/0471221279

Y. Bar-shalom and E. Tse, Tracking in a cluttered environment with probabilistic data association, Automatica, vol.11, issue.5, pp.451-460, 1975.
DOI : 10.1016/0005-1098(75)90021-7

. Bay, . Harbert, . Tuytelaars, V. Tinne, and L. Gool, SURF : Speeded Up Robust Features, Proceedings of the 9th European Conference on Computer Vision, 2006.

K. R. Beevers and W. H. Huang, Loop Closing in Topological Maps, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.4378-4383, 2005.
DOI : 10.1109/ROBOT.2005.1570792

K. R. Beevers and W. H. Huang, Fixed-lag Sampling Strategies for Particle Filtering SLAM, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.2433-2438, 2007.
DOI : 10.1109/ROBOT.2007.363684

P. J. Besl and N. D. Mckay, A method for registration of 3-D shapes, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.14, issue.2, pp.239-256, 1992.
DOI : 10.1109/34.121791

J. Bom, B. Thuillot, F. Marmoiton, and P. Martinet, Nonlinear Control for Urban Vehicles Platooning, relaying upon a Unique Kinematic GPS, Proceedings, IEEE International Conference on Robotic and Automation, pp.4138-4143, 2005.

J. Borenstein and L. Feng, Measurement and correction of systematic odometry errors in mobile robots, IEEE Transactions on Robotics and Automation, vol.12, issue.6, pp.869-880, 1996.
DOI : 10.1109/70.544770

G. A. Borges and M. J. Aldon, Line Extraction in 2D Range Images for Mobile Robotics, Journal of Intelligent and Robotic Systems, vol.40, issue.3, pp.267-297, 2004.
DOI : 10.1023/B:JINT.0000038945.55712.65

URL : https://hal.archives-ouvertes.fr/lirmm-00108567

M. Bosse, P. Newman, J. Leonard, M. Soika, W. Feiten et al., An Atlas framework for scalable mapping, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.1899-1906, 2003.
DOI : 10.1109/ROBOT.2003.1241872

M. Bosse and J. Roberts, Histogram Matching and Global Initialization for Laser-only SLAM in Large Unstructured Environments, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.4820-4826, 2007.
DOI : 10.1109/ROBOT.2007.364222

D. Caltabiano, G. Muscato, and F. Russo, Localization and self-calibration of a robot for volcano exploration, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.586-591, 2004.
DOI : 10.1109/ROBOT.2004.1307212

F. Carravetta, A. Germani, and M. Raimondi, Polynomial filtering of discrete-time stochastic linear systems with multiplicative state noise, IEEE Transactions on Automatic Control, vol.42, issue.8, pp.1106-1126, 1997.
DOI : 10.1109/9.618240

F. Carravetta, A. Germani, and M. Raimondi, Polynomial Filtering for Linear Discrete Time Non-Gaussian Systems, SIAM Journal on Control and Optimization, vol.34, issue.5, pp.1666-1690, 1996.
DOI : 10.1137/S0363012993252899

G. Casella and C. P. Robert, Rao-Blackwellisation of sampling schemes, Biometrika, vol.83, issue.1, pp.81-94, 1996.
DOI : 10.1093/biomet/83.1.81

J. Castellanos, J. Montiel, J. Neira, and J. Tardos, The SPmap: a probabilistic framework for simultaneous localization and map building, IEEE Transactions on Robotics and Automation, vol.15, issue.5, pp.948-953, 1999.
DOI : 10.1109/70.795798

J. Castellanos, J. Neira, O. Strauss, and J. Tardos, Detecting high level features for mobile robot localization, 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems (Cat. No.96TH8242), pp.611-618, 1996.
DOI : 10.1109/MFI.1996.572237

J. A. Castellanos, R. Martinez-cantin, J. D. Tardos, and J. Neira, Robocentric map joining: Improving the consistency of EKF-SLAM, Robotics and Autonomous Systems, vol.55, issue.1, pp.21-29, 2007.
DOI : 10.1016/j.robot.2006.06.005

J. A. Castellanos, J. Neira, and J. D. Tardos, Limits to the consistency of EKF-based SLAM, Proceedings, IFAC Symposium on Intelligent Autonomous Vehicles, 2004.

J. A. Castellanos, J. D. Tardos, and G. Schmidt, Building a global map of the environment of a mobile robot: the importance of correlations, Proceedings of International Conference on Robotics and Automation, pp.1053-1059, 1997.
DOI : 10.1109/ROBOT.1997.614274

H. J. Chang, C. S. Lee, Y. H. Lu, and Y. C. Hu, A computational efficient SLAM algorithm based on logarithmic-map partitioning, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.1041-1046, 2004.
DOI : 10.1109/IROS.2004.1389534

F. Chanier, P. Checchin, C. Blanc, and L. Trassoudaine, IMPACT OF PERTURBATION ESTIMATOR ON EKF-SLAM RESULTS, Proceedings, IFAC Symposium on Intelligent Autonomous Vehicles, 2007.
DOI : 10.3182/20070903-3-FR-2921.00082

URL : https://hal.archives-ouvertes.fr/hal-00344132

F. Chanier, P. Checchin, C. Blanc, and L. Trassoudaine, Comparison of EKF and PEKF in a SLAM context, 2008 11th International IEEE Conference on Intelligent Transportation Systems, pp.1078-1083, 2008.
DOI : 10.1109/ITSC.2008.4732631

URL : https://hal.archives-ouvertes.fr/hal-00343543

F. Chanier, P. Checchin, C. Blanc, and L. Trassoudaine, Map fusion based on a multimap SLAM framework, Proceedings, IEEE International Conference on Multisensor Fusion for Intelligent Systems, pp.533-538, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00343546

F. Chanier, P. Checchin, C. Blanc, and L. Trassoudaine, Polynomial Extended Kalman Filter in a SLAM framework, Proceedings, workshop of the IEEE International Conference on Robots and Systems, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00343930

F. Chanier, P. Checchin, C. Blanc, and L. Trassoudaine, SLAM process using Polynomial Extended Kalman Filter: Experimental assessment, 2008 10th International Conference on Control, Automation, Robotics and Vision, pp.365-370, 2008.
DOI : 10.1109/ICARCV.2008.4795547

URL : https://hal.archives-ouvertes.fr/hal-00343515

F. Chanier, P. Checchin, C. Blanc, and L. Trassoudaine, MultisensorFusion and Integration for Intelligent Systems. An Edition of the Selected Papers from the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems of Lecture Notes in Electrical Engineering, chapter Map Fusion based on a multi-map SLAM Framework, pp.439-154, 2008.

R. Chatila and J. P. Laumond, Position referencing and consistent world modeling, Proceedings, IEEE International Conference on Robotics and Automation, pp.138-145, 1885.

M. Choi, R. Sakthivel, and W. K. Chung, Neural Network-Aided Extended Kalman Filter for SLAM Problem, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1686-1690, 2007.
DOI : 10.1109/ROBOT.2007.363565

K. S. Chong and L. Kleeman, Large scale sonar array mapping using multiple connected local maps. Field and Service Robotics, pp.507-514, 1998.

H. Choset and K. Nagatani, Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization, IEEE Transactions on Robotics and Automation, vol.17, issue.2, pp.125-137, 2001.
DOI : 10.1109/70.928558

D. M. Cole and P. M. Newman, Using laser range data for 3D SLAM in outdoor environments, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.1556-1563, 2006.
DOI : 10.1109/ROBOT.2006.1641929

C. P. Connette, O. Meister, M. Hagele, and G. F. Trommer, Decomposition of line segments into corner and statistical grown line features in an EKF-SLAM framework, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3884-3891, 2007.
DOI : 10.1109/IROS.2007.4399404

F. Conticelli, A. Bicchi, and A. Balestrino, Observability and nonlinear observers for mobile robot localization, Proceedings, IFAC International Symposium on Robot Control, 2000.

I. J. Cox, Blanche-an experiment in guidance and navigation of an autonomous robot vehicle, IEEE Transactions on Robotics and Automation, vol.7, issue.2, pp.193-204, 1991.
DOI : 10.1109/70.75902

M. Csorba, Simultaneous Localization and Map Building, 2003.

A. Davison, Mobile Robot Navigation Using Active Vision, 1999.

F. Dellaert and M. Kaess, Square Root SAM, Robotics: Science and Systems I, pp.1181-1203, 2006.
DOI : 10.15607/RSS.2005.I.024

K. C. Dietmayer, J. Sparbert, and D. Streller, Model based Object Classification and Object Tracking in Traffic scenes from Range Images, Proceedings, IEEE International Conference on Intelligent Vehicles, 2001.

A. Diosi and L. Kleeman, Uncertainty of Line Segments Extracted from Static SICK PLS Laser Scans, Proceedings, Australian Conference on Robotics and Automation, 2003.

A. Diosi and L. Kleeman, Laser scan matching in polar coordinates with application to SLAM, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1439-1444, 2005.
DOI : 10.1109/IROS.2005.1545181

M. W. Dissanayake, P. Newman, S. Clark, H. F. Durrant-whyte, and M. Csorba, A solution to the simultaneous localization and map building (SLAM) problem, IEEE Transactions on Robotics and Automation, vol.17, issue.3, pp.229-241, 2001.
DOI : 10.1109/70.938381

M. W. Dissanayake, S. B. Williams, H. F. Durrant-whyte, and T. Bailey, Map Management for Efficient Simultaneous Localization and Mapping (SLAM), Autonomous Robots, vol.12, issue.3, pp.267-286, 2002.
DOI : 10.1023/A:1015217631658

A. Doucet, On Sequential Simulation-Based Methods for Bayesian Filtering, 1998.

A. Doucet, N. F. , K. Murphy, and S. Russell, Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks, pp.176-183, 2000.

A. Doucet, N. Freitas, and N. Gordon, An Introduction to Sequential Monte Carlo Methods, pp.3-14, 2001.
DOI : 10.1007/978-1-4757-3437-9_1

H. Durrant-whyte and J. E. Guivant, Simultaneous localization and mapping: part I, IEEE Robotics & Automation Magazine, vol.13, issue.2, pp.99-110, 2006.
DOI : 10.1109/MRA.2006.1638022

A. Elfes, Using occupancy grids for mobile robot perception and navigation, Computer, vol.22, issue.6, pp.46-57, 1989.
DOI : 10.1109/2.30720

C. Estrada, J. Neira, and J. D. Tardos, Hierarchical SLAM: real-time accurate mapping of large environments, IEEE Transactions on Robotics, vol.21, issue.4, pp.588-596, 2005.
DOI : 10.1109/TRO.2005.844673

R. Eustice, M. Walter, and J. Leonard, Sparse extended information filters: insights into sparsification, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.641-648, 2005.
DOI : 10.1109/IROS.2005.1545053

R. M. Eustice, H. Singh, and J. J. Leonard, Exactly Sparse Delayed-State Filters for View-Based SLAM, IEEE Transactions on Robotics, vol.22, issue.6, pp.1100-1114, 2006.
DOI : 10.1109/TRO.2006.886264

J. Folkesson and H. Christensen, Graphical SLAM - a self-correcting map, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.383-390, 2004.
DOI : 10.1109/ROBOT.2004.1307180

U. Forssell, P. Hall, S. Ahlqvist, and F. Gustafsson, Map-Aided Positioning System, Proceedings, International Federation of Automotive Engineering Societies, 2002.

O. Frank, J. Nieto, J. Guivant, and S. Scheding, Multiple target tracking using sequential monte carlo methods and statistical data association, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp.2718-2723, 2003.
DOI : 10.1109/IROS.2003.1249281

U. Frese, Treemap : An O(log n) Algorithm for Simultaneous Localization and Mapping, Spatial Cognition, vol.4, pp.455-476, 2005.

U. Frese and G. Hirzinger, A Discussion of Simultaneous Localization and Mapping, Proceedings of the IJCAI Workshop on Reasoning with Uncertainty in Robotics, 2001.
DOI : 10.1007/s10514-006-5735-x

U. Frese, P. Larsson, and T. Duckett, A Multilevel Relaxation Algorithm for Simultaneous Localisation and Mapping, Robotics and Autonomous Systems, vol.21, issue.2, pp.196-207, 2005.

W. Gander, G. H. Golub, and R. Strebel, Least-squares fitting of circles and ellipses, BIT, vol.88, issue.89, pp.558-578, 1994.
DOI : 10.1007/BF01934268

A. Germani, C. Manes, and P. Palumbo, Polynomial extended kalman filtering for discrete-time nonlinear stochastic systems, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), pp.886-891, 2003.
DOI : 10.1109/CDC.2003.1272678

A. Germani, C. Manes, and P. Palumbo, Polynomial extended Kalman filter, IEEE Transactions on Automatic Control, vol.50, issue.12, pp.2059-2064, 2005.
DOI : 10.1109/TAC.2005.860256

F. Gerossier, P. Checchin, C. Blanc, R. Chapuis, and L. Trassoudaine, Trajectory-oriented EKF-SLAM using the Fourier-Mellin Transform applied to Microwave Radar Images, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5354548

J. J. Gonzalez-barbosa and S. Lacroix, Fast Dense Panoramic Stereovision, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.1222-1227, 2005.
DOI : 10.1109/ROBOT.2005.1570280

W. E. Grimson and D. P. Huttenlocher, On the sensitivity of the Hough transform for object recognition, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.12, issue.3, pp.255-274, 1990.
DOI : 10.1109/34.49052

G. Grisetti, G. D. Tipaldi, C. Stachniss, W. Burgard, and D. Nardi, Fast and accurate SLAM with Rao???Blackwellized particle filters, Robotics and Autonomous Systems, vol.55, issue.1, pp.30-38, 2007.
DOI : 10.1016/j.robot.2006.06.007

J. Guivant and F. Masson, Using Absolute Non-Gaussian Non-White Observations in Gaussian SLAM, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.338-343, 2005.
DOI : 10.1109/ROBOT.2005.1570141

J. E. Guivant, Efficient Simultaneous Localization and Mapping in Large Environments, 2002.

J. E. Guivant, E. M. Nebot, and S. Baiker, Localization and map building using laser range sensors in outdoor applications, Journal of Robotic Systems, vol.15, issue.10, pp.565-593, 2000.
DOI : 10.1002/1097-4563(200010)17:10<565::AID-ROB4>3.0.CO;2-6

J. S. Gutmann and C. Schlegel, AMOS: comparison of scan matching approaches for self-localization in indoor environments, Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96), pp.61-67, 1996.
DOI : 10.1109/EURBOT.1996.551882

D. Hahnel, W. Burgard, D. Fox, and S. Thrun, An efficient fastslam algorithm for generating maps of large-scale cyclic environments from raw laser range measurements, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp.206-211, 2003.
DOI : 10.1109/IROS.2003.1250629

R. Hermann and A. J. Krener, Nonlinear controllability and observability, IEEE Transactions on Automatic Control, vol.22, issue.5, pp.728-740, 1977.
DOI : 10.1109/TAC.1977.1101601

G. P. Huang, A. I. Mourikis, and S. I. Roumeliotis, Analysis and improvement of the consistency of extended Kalman filter based SLAM, 2008 IEEE International Conference on Robotics and Automation, pp.473-479, 2008.
DOI : 10.1109/ROBOT.2008.4543252

S. Huang and G. Dissanayake, Convergence analysis for extended Kalman filter based SLAM, Proceedings, IEEE International Conference on Robotics and Automation, pp.412-417, 2006.

S. Huang and G. Dissanayake, Convergence and Consistency Analysis for Extended Kalman Filter based SLAM, IEEE Transactions on Robotics and Automation, vol.21, issue.5, pp.1036-1049, 2007.

P. Jensfelt and H. I. Christensen, Pose tracking using laser scanning and minimalistic environmental models, IEEE Transactions on Robotics and Automation, vol.17, issue.2, pp.138-147, 2001.
DOI : 10.1109/70.928559

S. J. Julier and J. K. Uhlmann, New extension of the Kalman filter to nonlinear systems, Signal Processing, Sensor Fusion, and Target Recognition VI, 1997.
DOI : 10.1117/12.280797

S. J. Julier and J. K. Uhlmann, Using covariance intersection for SLAM, Robotics and Autonomous Systems, vol.55, issue.1, pp.3-20, 2007.
DOI : 10.1016/j.robot.2006.06.011

S. J. Julier, J. K. Uhlmann, and H. F. Durrant-whyte, A new approach for filtering nonlinear systems, Proceedings of 1995 American Control Conference, ACC'95, pp.1628-1632, 1995.
DOI : 10.1109/ACC.1995.529783

S. J. Julier and K. Uhlmann, A counter example to the theory of simultaneous localization and map building, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), pp.4238-4243, 2001.
DOI : 10.1109/ROBOT.2001.933280

S. J. Julier and K. Uhlmann, Simultaneous localisation and map building using split covariance intersection, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), pp.406-411, 2001.
DOI : 10.1109/IROS.2001.977155

M. Kaess, A. Ranganathan, and F. Dellaert, iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1670-1677, 2007.
DOI : 10.1109/ROBOT.2007.363563

K. Kowalski and W. H. Steeb, Nonlinear Dynamical Systems and Carleman Linearization, World Scientific N.J)
DOI : 10.1142/1347

B. Kuipers, The Spatial Semantic Hierarchy, Artificial Intelligence, vol.119, issue.1-2, pp.191-233, 2000.
DOI : 10.1016/S0004-3702(00)00017-5

B. Kuipers, J. Modayil, P. Beeson, M. Macmahon, and F. Savelli, Local metrical and global topological maps in the hybrid spatial semantic hierarchy, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.212-217, 2004.
DOI : 10.1109/ROBOT.2004.1302485

S. Kwon, K. W. Yang, and S. Park, An Effective Kalman Filter Localization Method for Mobile Robots, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1524-1529, 2005.
DOI : 10.1109/IROS.2006.281982

S. J. Kwon and W. K. Chung, A discrete-time design and analysis of perturbation observer for motion control applications, IEEE Transactions on Control Systems Technology, vol.11, issue.3, pp.399-407, 2003.
DOI : 10.1109/TCST.2003.810398

S. J. Kwon, K. W. Yang, S. Park, and Y. Ryuh, Robust Mobile Robot Localization with Combined Kalman Filter-Perturbation Estimator, Proceedings, IEEE International Conference on Robots and Systems, pp.190-195, 2005.

K. W. Lee, S. Wijesoma, and J. I. Guzman, A constrained SLAM approach to robust and accurate localisation of autonomous ground vehicles, Robotics and Autonomous Systems, vol.55, issue.7, pp.527-540, 2007.
DOI : 10.1016/j.robot.2007.02.004

K. W. Lee, W. S. Wijesoma, and J. I. Guzman, On the Observability and Observability Analysis of SLAM, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3569-3574, 2005.
DOI : 10.1109/IROS.2006.281646

J. J. Leonard and H. F. Whyte, Simultaneous map building and localization for an autonomous mobile robot, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, pp.1442-1447, 1991.
DOI : 10.1109/IROS.1991.174711

K. Lingemann, H. Surmann, A. Nuchter, and J. Hertzberg, Indoor and outdoor localization for fast mobile robots, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.2185-2190, 2004.
DOI : 10.1109/IROS.2004.1389733

G. S. Lionis and K. J. Kyriakopoulos, A laser scanner based mobile robot SLAM algorithm with improved convergence properties, IEEE/RSJ International Conference on Intelligent Robots and System, pp.582-587, 2002.
DOI : 10.1109/IRDS.2002.1041453

Y. Liu and S. Thrun, Results for outdoor-SLAM using Sparse Extended Information Filters, Proceedings, IEEE International Conference on Robotics and Automation, pp.1227-1233, 2003.

G. David and . Lowe, Distinctive Image Features from Scale-Invariant Keypoints, International Journal of Computer Vision, vol.60, issue.20, pp.91-110, 2004.

F. Lu and E. Milios, Globally Consistent Range Scan Alignment for Environment Mapping, Autonomous Robots, vol.4, issue.4, pp.333-349, 1997.
DOI : 10.1023/A:1008854305733

F. Lu and E. Milios, Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans, Journal of Intelligent and Robotic Systems, vol.18, issue.3, pp.249-275, 1997.
DOI : 10.1023/A:1007957421070

C. Manes, A. Martinelli, F. Martinelli, and P. Palumbo, Mobile Robot Localization based on a Polynomial Approach, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.3539-3544, 2007.
DOI : 10.1109/ROBOT.2007.364020

A. Martinelli, V. Nguyen, N. Tomatisc, and R. Siegwart, A relative map approach to SLAM based on shift and rotation invariants, Robotics and Autonomous Systems, vol.55, issue.1, pp.50-61, 2007.
DOI : 10.1016/j.robot.2006.06.009

URL : https://hal.archives-ouvertes.fr/inria-00182088

A. Martinelli, N. Tomatis, and R. Siegwart, Some results on SLAM and the closing the loop problem, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2917-3432, 2005.
DOI : 10.1109/IROS.2005.1545003

A. Martinelli, N. Tomatis, A. Tapus, and R. Siegwart, Simultaneous Localization and Odometry Calibration for Mobile Robot, Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1499-1504, 2003.
DOI : 10.1109/iros.2003.1248856

URL : https://hal.archives-ouvertes.fr/hal-01015907

R. Martinez-cantin and J. A. Castellanos, Unscented SLAM for large-scale outdoor environments, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3427-3432, 2005.
DOI : 10.1109/IROS.2005.1545002

R. Martinez-cantin and J. A. Castellanos, Bounding uncertainty in EKF-SLAM: the robocentric local approach, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.430-435, 2006.
DOI : 10.1109/ROBOT.2006.1641749

R. Martinez-cantin, N. De-freitas, and J. A. Castellanos, Analysis of Particle Methods for Simultaneous Robot Localization and Mapping and a New Algorithm: Marginal-SLAM, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.2415-2420, 2007.
DOI : 10.1109/ROBOT.2007.363681

M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, FastSLAM 2.0 : An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges, Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence, 2003.

J. Neira, Sensors used for autonomous navigation, pp.135-156, 1999.

J. Neira and J. D. Tardos, Data association in stochastic mapping using the joint compatibility test, IEEE Transactions on Robotics and Automation, vol.17, issue.6, pp.890-897, 2001.
DOI : 10.1109/70.976019

J. Neira, J. D. Tardos, J. Horn, and G. Schmidt, Fusing range and intensity images for mobile robot localization, IEEE Transactions on Robotics and Automation, vol.15, issue.1, pp.76-84, 1999.
DOI : 10.1109/70.744604

P. Newman, D. Cole, and K. Ho, Outdoor SLAM using visual appearance and laser ranging, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.1180-1187, 2006.
DOI : 10.1109/ROBOT.2006.1641869

P. M. Newman and H. F. Durrant-whyte, A new solution to the simultaneous Localization and Map building (SLAM) Problem -the GPF, Proceedings of SPIE, pp.1180-1187, 2001.

V. Nguyen, A. Martinelli, N. Tomatis, and R. Siegwart, A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
DOI : 10.1109/IROS.2005.1545234

K. Ni, D. Steedly, and F. Dellaert, Tectonic SAM: Exact, Out-of-Core, Submap-Based SLAM, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1678-1685, 2007.
DOI : 10.1109/ROBOT.2007.363564

J. Nieto, T. Bailey, and E. Nebot, Recursive scan-matching SLAM, Robotics and Autonomous Systems, vol.55, issue.1, pp.39-49, 2007.
DOI : 10.1016/j.robot.2006.06.008

J. Nygards, On robot Feedback from Range sensors : Reliable Control by Active Reduction of Uncertainty and Ambiguities, 1998.

L. M. Paz, P. Jensfelt, J. D. Tardos, and J. Neira, EKF SLAM updates in O(n) with Divide and Conquer SLAM, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1657-1663, 2007.
DOI : 10.1109/ROBOT.2007.363561

L. M. Paz and J. Neira, Optimal local map size for EKF-based SLAM, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5019-5025, 2005.
DOI : 10.1109/IROS.2006.282529

L. D. Perera, W. S. Wijesoma, and M. D. Adams, On multidimensional assignment data association for simultaneous robot localization and mapping, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.860-865, 2004.
DOI : 10.1109/ROBOT.2004.1307257

S. T. Pfister, S. I. Roumeliotis, and J. W. Burdick, Weighted line fitting algorithms for mobile robot map building and efficient data representation, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.1304-1311, 2003.
DOI : 10.1109/ROBOT.2003.1241772

P. Pinies and J. D. Tardos, Scalable SLAM building conditionally independent local maps, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3466-3471, 2007.
DOI : 10.1109/IROS.2007.4399302

C. Premebida and U. Nunes, Segmentation and Geometric Primitives Extraction from 2D Laser Range Data for mobile robot applications, Proceedings, pp.17-25, 2005.

D. Rodriguez-losada and F. Matia, Integrating Segments and Edges in Feature-based SLAM, Proceedings, IEEE International Conference on Advanced Robotics, pp.1717-1722, 2003.

D. Rodriguez-losada, F. Matia, and R. Galan, Building geometric feature based maps for indoor service robots, Robotics and Autonomous Systems, vol.54, issue.7, pp.546-558, 2006.
DOI : 10.1016/j.robot.2006.04.003

D. Rodriguez-losada, F. Matia, and A. Jimenez, Local maps fusion for real time multirobot indoor simultaneous localization and mapping, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.1308-1313, 2004.
DOI : 10.1109/ROBOT.2004.1308005

D. Rodriguez-losada, F. Matia, L. Pedraza, A. Jimenez, and R. Galan, Consistency of SLAM-EKF Algorithms for Indoor Environments, Journal of Intelligent and Robotic Systems, vol.55, issue.5, pp.375-397, 2007.
DOI : 10.1007/s10846-007-9171-8

S. I. Roumeliotis and G. A. Bekey, SEGMENTS: a layered, dual-Kalman filter algorithm for indoor feature extraction, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), pp.454-461, 2000.
DOI : 10.1109/IROS.2000.894646

E. Royer, J. Bom, M. Dhome, B. Thuillot, and M. Lhuillet, Outdoor autonomous navigation using monocular vision, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3395-3400, 2005.
DOI : 10.1109/IROS.2005.1545495

URL : https://hal.archives-ouvertes.fr/hal-00118546

S. Santos, J. E. Faria, F. Soares, R. Araújo, and U. Nunes, Segmentation and Geometric Primitives Extraction from 2D Laser Range Data for mobile robot applications, 3rd National Festival of Robotics Scientific Meeting (ROBOTICA), pp.59-65, 2003.

F. Savelli and B. Kuipers, Loop-closing and planarity in topological map-building, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.1511-1517, 2004.
DOI : 10.1109/IROS.2004.1389610

S. Scheding, E. Nebot, and H. Durrant-whyte, High-integrity navigation: a frequency-domain approach, IEEE Transactions on Control Systems Technology, vol.8, issue.4, pp.676-694, 2000.
DOI : 10.1109/87.852913

A. C. Schultz and W. Adams, Continuous localization using evidence grids, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.2833-2839, 1998.
DOI : 10.1109/ROBOT.1998.680595

R. Sim, Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling, Proceedings, IEEE International Conference on Robotic and Automation, pp.2422-2427, 2005.

R. C. Smith, P. Self, and . Cheeseman, Estimating uncertain spatial relationships in robotics, Proceedings. 1987 IEEE International Conference on Robotics and Automation, pp.1-21, 1986.
DOI : 10.1109/ROBOT.1987.1087846

R. C. Smith, P. Self, and . Cheeseman, A stochastic map for uncertain spatial relationships, Proceedings, Fourth International Symposium of Robotics Research, pp.467-474, 1987.

C. Stachniss, G. Grisetti, W. Burgard, and N. Roy, Analyzing gaussian proposal distributions for mapping with rao-blackwellized particle filters, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3485-3490, 2007.
DOI : 10.1109/IROS.2007.4399005

C. Stachniss, W. Hahnel, and . Burgard, Exploration with active loop-closing for FastSLAM, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.1505-1510, 2004.
DOI : 10.1109/IROS.2004.1389609

J. D. Tardos, Representing partial and uncertain sensorial information using the theory of symmetries, Proceedings 1992 IEEE International Conference on Robotics and Automation, pp.1799-1804, 1998.
DOI : 10.1109/ROBOT.1992.220119

J. D. Tardos, J. Neira, P. M. Newman, and J. J. Leonard, Robust Mapping and Localization in Indoor Environments Using Sonar Data, The International Journal of Robotics Research, vol.21, issue.4, pp.311-330, 2002.
DOI : 10.1177/027836402320556340

C. Tessier, C. Debain, R. Chapuis, and F. Chausse, Simultaneous landmarks detection and data association in noisy environment for map aided localization, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1396-1401, 2007.
DOI : 10.1109/IROS.2007.4399155

S. Thrun, Learning occupancy grids with forward models, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), pp.1676-1681, 2001.
DOI : 10.1109/IROS.2001.977219

S. Thrun, Robotic Mapping : A Survey, 2002.

S. Thrun, W. Burgard, and D. Fox, A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots, pp.29-53, 1998.

S. Thrun, D. Koller, Z. Ghaaramani, and H. Durrant-whyte, Simultaneous Mapping and Localization with Sparse Extended Information Filters: Theory and Initial Results, 2002.
DOI : 10.1007/978-3-540-45058-0_22

S. Thrun, M. Montemerlo, D. Koller, B. Wegbreit, J. Nieto et al., FastSLAM : An Efficient Solution to the Simultaneous Localization And Mapping Problem with Unknown Data Association, Journal of Machine Learning Research, 2004.

B. Thuillot, C. Cariou, P. Martinet, and M. Berducat, Automatic guidance of a fram tractor relying on a single CP-DGPS, Autonomous Robots, vol.13, issue.1, pp.53-71, 2002.
DOI : 10.1023/A:1015678121948

N. Tomatis, I. Nourbakhsh, and R. Siegwart, Hybrid simultaneous localization and map building: a natural integration of topological and metric, Robotics and Autonomous Systems, vol.44, issue.1, pp.3-14, 2003.
DOI : 10.1016/S0921-8890(03)00006-X

B. Triggs, P. Mclauchlan, R. Hartley, and A. Fitzgibbon, Bundle Adjustment ??? A Modern Synthesis, Vision Algorithms : Theory and Practice, pp.298-375, 2000.
DOI : 10.1007/3-540-44480-7_21

URL : https://hal.archives-ouvertes.fr/inria-00548290

J. Uhlmann, S. Julier, and M. Csorba, Non-divergent simultaneous map building and localization using covariance intersection, Proceedings, SPIE International Conference on Navigation and control Technologies for Unmanned systems, pp.2-11, 1997.

C. C. Wang and C. Thorpe, Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects, Proceedings, IEEE International Conference on Robotics and Automation, pp.406-411, 2002.

Z. Wang, S. Huang, and G. Dissanayake, Decoupling Localization and Mapping in SLAM Using Compact Relative Maps, Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1041-1046, 2005.

G. Weiss and E. V. Puttkamer, A map based on laser scans without geometric interpretation, pp.403-407, 1995.

S. B. Williams, G. Dissanayake, and H. Durrant-whyte, An efficient approach to the simultaneous localisation and mapping problem, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.406-411, 2002.
DOI : 10.1109/ROBOT.2002.1013394

O. Wulf, A. Nuchter, J. Hertzberg, and B. Wagner, Ground truth evaluation of large urban 6D SLAM, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.650-657, 2007.
DOI : 10.1109/IROS.2007.4399026

E. Zalama, G. Candela, J. Gomez, and S. Thrun, Concurrent mapping and localization for mobile robots with segmented local maps, IEEE/RSJ International Conference on Intelligent Robots and System, pp.546-551, 2002.
DOI : 10.1109/IRDS.2002.1041447

L. Zhang and B. K. Ghosh, Line segment based map building and localization using 2D laser rangefinder, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.2538-2543, 2000.
DOI : 10.1109/ROBOT.2000.846410

S. Zhang, L. Xie, and M. D. Adams, An Efficient Data Association Approach to Simultaneous Localization and Map Building, Proceedings, IEEE International Conference on Robotics and Automation, pp.854-859, 2004.

S. Zhang, L. Xie, and M. D. Adams, Feature extraction for outdoor mobile robot navigation based on a modified Gauss???Newton optimization approach, Robotics and Autonomous Systems, vol.54, issue.4, pp.277-287, 2006.
DOI : 10.1016/j.robot.2005.11.008