@Article{Georgiev04b,
  author = 	 {Atanas Georgiev and Peter K. Allen},
  title = 	 {Localization Methods for a Mobile Robot in Urban
                  Environments},
  journal = 	 {IEEE Transactions on Robotics},
  year = 	 2004,
  volume = 	 20,
  number = 	 5,
  pages = 	 {851-864},
  month = 	 {October}
}