Matti Öhman Mikko Miettinen Kosti Kannas Jaakko Jutila Arto Visala Pekka Forsman Tree Measurement and Simultaneous Localization and Mapping System for Forest Harvesters. 369-378 2007 FSR http://dx.doi.org/10.1007/978-3-540-75404-6_35 conf/fsr/2007 db/conf/fsr/fsr2007.html#OhmanMKJVF07