Voronoi Graph Matching for Robot Localization and Mapping. Jan Oliver, W. Transactions on Computational ScienceTransactions on Computational Science, 2010.
bibtex   
@article{
 title = {Voronoi Graph Matching for Robot Localization and Mapping},
 type = {article},
 year = {2010},
 volume = {9},
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 bibtype = {article},
 author = {Jan Oliver, Wallgrün},
 journal = {Transactions on Computational ScienceTransactions on Computational Science}
}
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