. Strack, A., Ferrein, A., & Lakemeyer, G. Volume 4020, Bredenfeld, A., Jacoff, A., Noda, I., & Takahashi, Y., editors. Laser-Based Localization with Sparse Landmarks, pages 569–576. Springer, 2006.
bibtex   
@inbook {KBSG_230,
        title = {Laser-Based Localization with Sparse Landmarks},
        booktitle = {RoboCup 2005: Robot Soccer World Cup IX},
        series = {Lecture Notes in Computer Science},
        volume = {4020},
        year = {2006},
        pages = {569--576},
        publisher = {Springer},
        organization = {Springer},
        author = {Andreas Strack and Ferrein, Alexander and Lakemeyer, Gerhard},
        editor = {Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and Yasutake Takahashi}
}
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