3Smith R, Self M, Cheeseman P. Extimating Uncertain Spatial Relationships in Robotics[C]//Proc. of Conference on Uncertainty in Artificial Intelligence. Amsterdam, Holland: [s. n.], 1988: 435- 461.
4Zhang Sen, Xie Lihua, Adams M. An Efficient Data Association Approach to Simultaneous Localization and Map Building[C]// Proc. of IEEE International Conference on Robotics and Automation.[S. l.]: IEEE Press, 2004: 854-859.
5Wuesoma W S, Perera D L, Adams M D. Toward Multi- dimensional Assignment Data Association in Robot Localization and Mapping[J]. IEEE Trans. on Robotics, 2006, 22(2): 350-365.
6Hahnel D, Thnm S, Wegbreit B, et a1. Towards Lazy Data Association in SLAM[M]. [S. l.]: Robotics Research, 2005: 421- 431.
7Ji Xincai, Zhang Hui, Hai Dan, et al. An Incremental SLAM Algorithm with Backtracking Revisable Data Association for Mobile Robots[C]//Proc. of IEEE International Conference on Mechatronics and Automation. [S. l.]: IEEE Press, 2008: 831-838.
8蔡自兴, 徐光佑. 人工智能机器应用[M]. 北京: 清华大学出版社, 2003.
9Dellaert F, Kaess M. Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing[J]. International Journal of Robotics Research, 2006, 25(12): 1181- 1203.
10Rabin S. AI game programming wisdom [ M ]. Beijing: Tsinghua University Press, 2005.