H. Jacky Chang C. S. George Lee Yung-Hsiang Lu Y. Charlie Hu Simultaneous Localization and Mapping with Environmental Structure Prediction. 4069-4074 2006 conf/icra/2006 ICRA db/conf/icra/icra2006.html#ChangLLH06 http://dx.doi.org/10.1109/ROBOT.2006.1642327