Detecting region transitions for human-augmented mapping. Topp, E. A. & Christensen, H. I. IEEE Trans. on Robotics, 26(4):715–720, August, 2010.
bibtex   
@article{topp10:detec,
  author        = {E. A. Topp and H. I. Christensen},
  category      = {Journal},
  journal       = {IEEE Trans.~on Robotics},
  month         = aug,
  number        = 4,
  pages         = {715--720},
  title         = {Detecting region transitions for human-augmented mapping},
  volume        = 26,
  year          = 2010
}

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