@conference {BSB10, title = {3 known landmarks are enough for solving planar bearing SLAM and fully reconstruct unknown inputs}, booktitle = {Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on}, year = {2010}, month = {October}, pages = {2539 -2545}, address = {St. Louis MO USA}, keywords = {Embedded Control, Robotics}, doi = {10.1109/IROS.2010.5648896}, author = {F. A. W. Belo and P Salaris and A. Bicchi} }