Hironobu Sasaki Naoyuki Kubota Kazuhiko Taniguchi Yasutsugu Nogawa Illuminance Measurement and SLAM of A Mobile Robot based on Computational Intelligence. 541-545 2007 CIRA http://dx.doi.org/10.1109/CIRA.2007.382920 conf/cira/2007 db/conf/cira/cira2007.html#SasakiKTN07