Holger Friedrich David Dederscheck Kai Krajsek Rudolf Mester View-Based Robot Localization Using Spherical Harmonics: Concept and First Experimental Results. 21-31 2007 conf/dagm/2007 DAGM-Symposium http://dx.doi.org/10.1007/978-3-540-74936-3_3 db/conf/dagm/dagm2007.html#FriedrichDKM07