3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera. Biber, P., Andreasson, H., Duckett, T., & Schilling, A. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), volume 4, of IROS-04, pages 3430–3435. IEEE.
3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera [link]Paper  doi  bibtex   
@inproceedings{dbk7tg,
 author = {Biber, P. and Andreasson, H. and Duckett, T. and Schilling, A.},
 booktitle = {2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
 collection = {IROS-04},
 doi = {10.1109/iros.2004.1389947},
 link = {https://doi.org/10.1109/IROS.2004.1389947},
 pages = {3430–3435},
 publisher = {IEEE},
 series = {IROS-04},
 title = {3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera},
 url = {http://dx.doi.org/10.1109/IROS.2004.1389947},
 volume = {4}
}

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