H. Durrant-whyte and T. Bailey, Simultaneous localization and mapping: part I, IEEE Robotics & Automation Magazine, vol.13, issue.2, p.99108, 2006.
DOI : 10.1109/MRA.2006.1638022

J. Gutmann and K. Konolige, Incremental mapping of large cyclic environments, Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375), 2000.
DOI : 10.1109/CIRA.1999.810068

T. Vu, Localisation, mapping avec detection, classication et suivi des objets mobiles, 2009.

W. Burgard, C. Stachniss, G. Grisetti, B. Steder, R. Kummerle et al., A comparison of SLAM algorithms based on a graph of relations, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5354691

D. Fox, W. Burgard, F. Dellaert, and S. Thrun, Monte carlo localization : Ecient position estimation for mobile robots, Proceedings of the Sixteenth National Conference on Articial Intelligence, 1999.

R. C. Smith and P. Cheeseman, On the Representation and Estimation of Spatial Uncertainty, The International Journal of Robotics Research, vol.5, issue.4, p.5668, 1986.
DOI : 10.1177/027836498600500404

H. Durrant-whyte, Uncertain geometry in robotics, Proceedings. 1987 IEEE International Conference on Robotics and Automation, p.2331, 1988.
DOI : 10.1109/ROBOT.1987.1087810

A. J. Davison, Real-time simultaneous localisation and mapping with a single camera, Proceedings Ninth IEEE International Conference on Computer Vision, 2003.
DOI : 10.1109/ICCV.2003.1238654

J. Sola, A. Monin, M. Devy, and T. Vidal-calleja, Fusing Monocular Information in Multicamera SLAM, IEEE Transactions on Robotics, vol.24, issue.5, 2008.
DOI : 10.1109/TRO.2008.2004640

F. Lu and E. Milios, Robot pose estimation in unknown environments bu matching 2d range scans, Journal of Intelligent and Robotic Systems, 1997.

S. Riisgaard and M. R. Blas, SLAM for Dummies. A Tutorial Approach to Simultaneous Localization and Mapping

A. Eliazar and R. Parr, Dp-slam : Fast, robust simultaneous localization and mapping without predetermined landmarks, Proceedings of the International Joint Conference on Articial Intelligence, 2003.

M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, Fastslam : A factored solution to the simultaneous localization and mapping problem, Proceedings of the AAAI National Conference on Articial Intelligence, p.593598, 2002.

A. Davison and D. Murray, Simultaneous localization and map-building using active vision, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.7, pp.865-880, 2002.
DOI : 10.1109/TPAMI.2002.1017615

C. Estrada, J. Neira, and J. Tardos, Hierarchical SLAM: real-time accurate mapping of large environments, IEEE Transactions on Robotics, vol.21, issue.4, p.588596, 2005.
DOI : 10.1109/TRO.2005.844673

J. Leonard and P. Newman, Consistent, convergent, and constant-time slam, Proceedings of the 18th international joint conference on Articial intelligence, pp.1143-1150, 2003.

J. Kim and S. Sukkarieh, Airborne simultaneous localisation and map building, IEEE International Conference on Robotics and Automation, vol.1, pp.406-411, 2003.

S. Williams, P. Newman, G. Dissanayake, and H. Durrant-whyte, Autonomous underwater simultaneous localisation and map building, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.1793-1798, 2000.
DOI : 10.1109/ROBOT.2000.844855

J. Saez, A. Hogue, F. Escolano, and M. Jenkin, Underwater 3D SLAM through entropy minimization, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.3562-3567, 2006.
DOI : 10.1109/ROBOT.2006.1642246

R. Eustice, Large-area visually augmented navigation for autonomous underwater vehicles, 2005.
DOI : 10.1575/1912/1414

R. Ouellette and K. Hirasawa, A comparison of SLAM implementations for indoor mobile robots, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
DOI : 10.1109/IROS.2007.4399575

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

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

A. Elfes, Occupancy grids : a probabilistic framework for robot perception and navigation, 1989.

T. Einsele and G. Farber, Real-time self-localization in unknown indoor environments using a panorama laser range nder, IEEE/RSJ International Workshop on Robots ans Systems, p.697703, 1997.

S. Pster, S. Roumeliotis, and J. Burdick, Weighted line tting algorithms for mobile robot map building and ecient data representation Computer Vision : A Modern Approach, IEEE International Conference on Robotics and Automation, vol.1, 1311.

A. Elfes, Multi-source spatial data fusion using bayesian reasoning integration, Data Fusion in Robotics and Machine Intelligence, p.137163, 1992.

S. Thrun, Learning maps for indoor mobile robot navigation, Tech. Rep, 1997.

D. Pagac, E. Nebot, and H. Durrant-whyte, An evidential approach to map-building for autonomous vehicles, IEEE Transactions on Robotics and Automation, vol.14, issue.4, pp.623-629, 1998.
DOI : 10.1109/70.704234

F. Vincent, Modelisation de l'environnement et localisation pour un véhicule, Master's thesis, L'Institut National Polytechnique de Grenoble, 1997.

G. Oriolo, M. Vendittelli, and G. Ulivi, Fuzzy maps: A new tool for mobile robot perception and planning, Journal of Robotic Systems, vol.14, issue.3, p.179197, 1997.
DOI : 10.1002/(SICI)1097-4563(199703)14:3<179::AID-ROB3>3.0.CO;2-O

B. Abdellatif, Cartographie de l'environnement et suivi simultané de cibles dynamiques par un robot mobile, 2007.

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

R. E. Kalman, A new approach to linear ltering and prediction problems, Transactions of the ASMEJournal of Basic Engineering, vol.82, p.3545, 1960.

R. Smith, P. Self, and . Cheeseman, Estimating uncertain spatial relationships in robotics, Autonomous Robot Vehicles, p.167193, 1990.

P. Maybeck, The kalman lter : An introduction to concepts, Autonomous Robot Vehicles, pp.194-204, 1990.

M. Csorba, Simultaneous localisation and map building, 1997.

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, 2006.
DOI : 10.1109/IROS.2006.281644

E. Wan and R. Van-der-merwe, Kalman Filtering and Neural Networks, 2001.

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, p.242257, 2001.
DOI : 10.1109/70.938382

W. Burgard, D. Fox, H. Jans, C. Matenar, and S. Thrun, Sonar-based mapping of large-scale mobile robot environments using em, Proceedings of the Sixteenth International Conference on Machine Learning, pp.67-76, 1999.

S. Thrun, W. Burgard, D. Fox, H. Hexmoor, and M. Mataric, A probabilistic approach to concurrent mapping and localization for mobile robots, Machine Learning, 1998.

A. Dempster, N. Laird, and D. Rubin, Maximum likelihood from incomplete data via the em algorithm, Journal of the Royal Statistical Society, vol.39, p.138, 1977.

N. Metropolis and S. Ulam, The Monte Carlo Method, Journal of the American Statistical Association, vol.44, issue.247, p.335341, 1949.
DOI : 10.1080/01621459.1949.10483310

D. Blackwell, Conditional expectation and unbiased sequential estimation, The Annals of, Mathematical Statistics, vol.18, p.105110, 1947.

C. Rao, Information and accuracy obtainable in estimation of statistical parameters, Bulletin of the Calcutta Mathematical Society, 1945.

F. Ramos, D. Fox, and H. Durrant-whyte, CRF-Matching: Conditional Random Fields for Feature-Based Scan Matching, Robotics: Science and Systems III, 2007.
DOI : 10.15607/RSS.2007.III.026

S. Thrun, D. Fox, and W. Burgard, A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2000.
DOI : 10.1109/ROBOT.2000.844077

J. Aulinas, Y. Petillot, J. Salvi, and X. Llado, The slam problem : a survey, Conference on Articial Intelligence Research and Development : Proceedings of the 11th International Conference of the Catalan Association for Articial Intelligence, p.363371, 2008.

S. Se, D. Lowe, and J. Little, Vision-based global localization and mapping for mobile robots, IEEE Transactions on Robotics, vol.21, issue.3, pp.364-375, 2005.
DOI : 10.1109/TRO.2004.839228

L. M. Paz, J. D. Tardós, and J. Neira, Divide and conquer : Ekf slam in 0(n), IEEE Transactions on Robotics, pp.1107-1120, 2008.

S. L. Cor, G. Fort, and E. Moulines, Online expectation maximization algorithm to solve the slam problem, IEEE Statistical Signal Processing Workshop, pp.225-228, 2011.

S. Thrun and M. Montemerlo, The graphslam algorithm with applications to largescale mapping of urban structures, International Journal on Robotics Research, vol.25, p.403430, 2005.

J. Gutmann, Robuste navigation autonomer mobiler systeme, 2000.

K. L. Surmann, A. Nuchter, and J. Hertzberg, Indor and outdoor localization for fast mobile robots, IEEE International Conference on Intelligent Robot and Systems, 2004.

I. J. Co, Blanche-an experiment in guidance and navigation of an autonomous robot vehicle The normal distributions transform : A new approach to laser scan matching, Conference on Intelligent Robots and Systems, 1991.

P. J. Besl and N. D. Mckay, A method for registration of 3d shapes, IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992.

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, 2005.
DOI : 10.1109/IROS.2005.1545181

A. Censi, L. Iocchi, and G. Grisetti, Scan Matching in the Hough Domain, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.
DOI : 10.1109/ROBOT.2005.1570528

J. Bresenham, Algorithm for computer control of a digital plotter, IBM Systems Journal, vol.4, issue.1, p.2530, 1965.
DOI : 10.1147/sj.41.0025

M. Mitchell, An Introduction to Genetic Algorithms, 1998.

J. H. Holland, Adaptation in Natural and Articial Systems, 1975.

T. Duckett, A genetic algorithm for simultaneous localization and mapping, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003.
DOI : 10.1109/ROBOT.2003.1241633
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.5.3164

J. M. , G. L. Jorge, J. Martinez, and . Gonzalez, Mobile robot motion estimation by 2d scan matching with genetic and iterative closest point algorithms, Journal of Field Robotics, 2006.

A. P. Dong and W. , Sardha Wijesoma, An ecient rao-blackwellized genetic algorithmic lter for slam, International Conference on Robotics and Automation, 2007.

M. Begum, G. K. Mann, and R. G. Gosine, Integrated fuzzy logic and genetic algorithmic approach for simultaneous localization and mapping of mobile robots, Applied Soft Computing, vol.8, issue.1, 2008.
DOI : 10.1016/j.asoc.2006.11.010

R. Schaer and R. Sedgewick, The analysis of heapsort, Journal of Algorithms, vol.15, p.76100, 1993.

S. Kyo, S. Okazaki, and I. Kuroda, An extended c language and a simd compiler for ecient implementation of image lters on media extended micro-processors, Proceedings of Advanced Concepts for Intelligent Vision Systems, 2003.

C. Samson and K. Ait-abderrahim, Mobile robot control part 1 : Feedback control of a nonholonomic wheeled cart in cartesian space, 1990.

N. Burrus, Kinect calibration

D. Rina and P. Judea, Generalized best-rst search strategies and the optimality of a*, Journal of the ACM, vol.32, p.505536, 1985.

A. Censi, Scan matching in a probabilistic framework, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., p.22912296, 2006.
DOI : 10.1109/ROBOT.2006.1642044

G. Grisetti, C. Stachniss, and W. Burgard, Improved tehniques for grid mapping with rao-blackwellized partile ltres, IEEE transactions on Robotics, vol.23, p.3446, 2007.
DOI : 10.1109/tro.2006.889486
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.73.1897

E. Olson, Robust and ecient robotic mapping, Ph.D. dissertation, Massachusetts Institute of Technology, 2008.

P. Newman and K. Ho, SLAM-Loop Closing with Visually Salient Features, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.
DOI : 10.1109/ROBOT.2005.1570189
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.127.7230

J. Callmer and K. Granstrom, Large scale slam in an urban environment, 2008.

D. Nister and H. Stewenius, Scalable Recognition with a Vocabulary Tree, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Volume 2 (CVPR'06), p.21612168, 2006.
DOI : 10.1109/CVPR.2006.264

G. G. Garrido, Développement d'un capteur composite vision/laser à couplace serré pour le slam d'intérieur, 2011.

S. J. Hennessy and R. H. King, Future mining technology spinos from the alv program, IEEE Transactions on Industry Applications, vol.25, p.377384, 1989.