Sonar-Based Mapping of Large-Scale Mobile Robot Environments using EM.

Wolfram Burgard Dieter Fox Hauke Jans Christian Matenar Sebastian Thrun Sonar-Based Mapping of Large-Scale Mobile Robot Environments using EM. 67-76 1999 conf/icml/1999 ICML db/conf/icml/icml1999.html#BurgardFJMT99