Y. Bar-shalom and X. Li, Estimation and Tracking: Principles , Techniques and Software, 1993.
DOI : 10.1109/map.1996.491294

O. Bengtsson and A. Baerveldt, Robot localization based on scan-matching???estimating the covariance matrix for the IDC algorithm, Robotics and Autonomous Systems, vol.44, issue.1, pp.29-40, 2003.
DOI : 10.1016/S0921-8890(03)00008-3

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

P. Biber, S. Fleck, and W. Straßer, A Probabilistic Framework for Robust and Accurate Matching of Point Clouds, 26th Pattern Recognition Symposium (DAGM 04), 2004.
DOI : 10.1007/978-3-540-28649-3_59

P. Biber and W. Straßer, The normal distributions transform: a new approach to laser scan matching, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003.
DOI : 10.1109/IROS.2003.1249285

M. A. Fischler and R. C. Bolles, Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.
DOI : 10.1145/358669.358692

J. Guivant and E. Nebot, Optimization of the simultaneous localization and map-building algorithm for real-time implementation, IEEE Transactions on Robotics and Automation, vol.17, issue.3, 2001.
DOI : 10.1109/70.938382

A. Howard and N. Roy, The robotics data set repository (radish), 2007.

J. K. Lindsey, Introduction to Applied Statistics: A Modelling Approach, 2004.

F. Lu and E. Milios, Robot pose estimation in unknown environments by matching 2d range scans, CVPR94, pp.935-938, 1994.

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

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

C. Wang, Simultaneous Localization, Mapping and Moving Object Tracking, The International Journal of Robotics Research, vol.26, issue.9, 2004.
DOI : 10.1177/0278364907081229

C. Wang, C. Thorpe, and S. Thrun, Online simultaneous localization and mapping with detection and tracking of moving objects: Theory and results from a ground vehicle in crowded urban areas, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.

G. Welch and G. Bishop, An introduction to the Kalman filter, 2006.

X. Zezhong, L. Jilin, and X. Zhiyu, Scan matching based on CLS relationships, IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003, pp.99-104, 2003.
DOI : 10.1109/RISSP.2003.1285556