Automatic Map Acquisition for Navigation in Domestic Environments. Althaus, P. & Christensen, H. In ICRA-03, pages 1551–1556, Taipei, September, 2003. IEEE.
bibtex   
@inproceedings{althaus03:-autom-map-acquis-navig-domes,
  address       = {Taipei},
  author        = {P. Althaus and H.I. Christensen},
  booktitle     = {ICRA-03},
  category      = {Conference},
  month         = sep,
  organization  = {IEEE},
  pages         = {1551--1556},
  pdf           = {hic-papers/icra03-beh-comp.pdf},
  title         = {Automatic Map Acquisition for Navigation in Domestic Environments},
  year          = 2003
}

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