Rolf Lakämper Longin Jan Latecki Xinyu Sun Diedrich Wolter Geometric Robot Mapping. 11-22 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3429&spage=11 2005 conf/dgci/2005 DGCI db/conf/dgci/dgci2005.html#LakamperLSW05