@techreport{Spero05a, author = "D. J. Spero and R. A. Jarvis", title = "A New Solution to the Simultaneous Localisation and Map Building ({SLAM}) Problem", institution = "Department of Electrical and Computer Systems Engineering, Monash University", address = "Melbourne, Australia", number = "MECSE-27-2005", month = "15 Jul.", year = 2005, url = "http://www.ds.eng.monash.edu.au/techrep/reports/" }