I. Introduction
One main goal within the research area of mobile robotics is to reach the highest possible grade of robustness and precision. In localization and mapping applications, this depends directly on the quality of the used perceptive sensors, the odometry, the computer hardware and the software implementing the underlying models and algorithms. With the appearance of accurate and affordable 2D laser scanners on the market some years ago, a prerequisite for big progress was set resulting in robots that can safely navigate and interact in highly dynamic and populated environments like museums or exhibitions (see Arras et. al [9] or Thrun et al. [5]).