Jan Oliver Wallgrün Multi-Hypothesis Topological Mapping Using Qualitative Spatial Reasoning. 35-40 2009 AAAI Spring Symposium: Benchmarking of Qualitative Spatial and Temporal Reasoning Systems http://www.aaai.org/Library/Symposia/Spring/2009/ss09-02-007.php conf/aaaiss/2009-2 db/conf/aaaiss/aaaiss2009-2.html#Wallgrun09