@article{onlineslamwithanytimeselfcalibration,
  title = {Online SLAM with Any-time Self-calibration and Automatic Change Detection},
  author = {Nima Keivan and Gabe Sibley},
  year = {2014},
  eprint = {1411.1372},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1411.1372v1},
}