@Article{sturm11jair,
author =       {J. Sturm and C. Stachniss and W. Burgard},
title =        {A Probabilistic Framework for Learning
Kinematic Models of Articulated Objects},
journal =      jair,
pages =        {477--526},
volume =       41,
year =         2011,
URL =          {http://www.informatik.uni-freiburg.de
/~stachnis/pdf/sturm11jair.pdf},
}