David Ribas Pere Ridao José Neira Underwater SLAM for Structured Environments Using an Imaging Sonar 65 2010 1-119 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/978-3-642-14040-2 978-3-642-14039-6 db/series/star/index.html#RibasRN10