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http://ieeexplore.ieee.org/Xplore/lo...hDecision=-203
Representing a global map for a mobile robot with relational localmaps from sensory data
Asada, M.; Fukui, Y.; Tsuji, S.
Pattern Recognition, 1988., 9th International Conference on
Volume , Issue , 14-17 Nov 1988 Page(s):520 - 524 vol.1
Digital Object Identifier 10.1109/ICPR.1988.28282