Stéphane Betgé-Brezetz Raja Chatila Michel Devy Object-Based Modelling and Localization in Natural Enviroments. 2920-2927 1995 conf/icra/1995 ICRA db/conf/icra/icra1995-3.html#Betge-BrezetzCD95 http://dx.doi.org/10.1109/ROBOT.1995.525698