@article {Roman2007,
	title = {{A self-consistent bathymetric mapping algorithm}},
	journal = {Journal of Field Robotics},
	volume = {24},
	number = {1-2},
	year = {2007},
	pages = {23{\textendash}50},
	keywords = {ROV Jason (Remotely Operated Vehicle)},
	issn = {1556-4959},
	doi = {10.1002/rob.20164},
	url = {http://dx.doi.org/10.1002/rob.20164},
	author = {Roman, C and Singh, H}
}
