@conference{AhmadB2015, title = {Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception}, author = {Ahmad, A and B{\"u}lthoff, HH}, booktitle = {7th European Conference on Mobile Robots}, pages = {1-8}, month = sep, year = {2015}, doi = {10.1109/ECMR.2015.7324197}, month_numeric = {9} }