The M-space feature representation for SLAM. Folkesson, J., Jensfelt, P., & Christensen, H. I. IEEE Transaction on Robotics, 23(5):106–115, oct, 2007.
bibtex   
@article{folkesson07:mslam,
 author = {J. Folkesson and P. Jensfelt and H. I. Christensen},
 journal = {IEEE Transaction on Robotics},
 month = {oct},
 number = {5},
 pages = {106--115},
 title = {The {M}-space feature representation for {SLAM}},
 type = {Journal},
 volume = {23},
 year = {2007}
}

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