Design and Evaluation of an Integrated Planar Localization Method for Desktop Robotics. Singh, S. P. N. & Waldron, K. J. In International Conference on Robotics and Automation, volume 2, pages 1109-1114, April, 2004.
doi  bibtex   
@INPROCEEDINGS{icra04,
  author = {S. P. N. Singh and K. J. Waldron},
  title = {Design and Evaluation of an Integrated Planar Localization Method
	for Desktop Robotics},
  booktitle = {International Conference on Robotics and Automation},
  year = {2004},
  volume = {2},
  pages = {1109-1114},
  month = apr,
  doi = {10.1109/ROBOT.2004.1307973}
}

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