Rainer Kümmerle Rudolph Triebel Patrick Pfaff Wolfram Burgard Monte Carlo Localization in Outdoor Terrains Using Multi-Level Surface Maps. 213-222 2007 FSR http://dx.doi.org/10.1007/978-3-540-75404-6_20 conf/fsr/2007 db/conf/fsr/fsr2007.html#KummerleTPB07