Thomas Collins J. J. Collins Mark Mansfield Shane O'Sullivan Evaluating Techniques for Resolving Redundant Information and Specularity in Occupancy Grids. 235-244 2005 conf/ausai/2005 Australian Conference on Artificial Intelligence http://dx.doi.org/10.1007/11589990_26 db/conf/ausai/ausai2005.html#CollinsCMO05