Takashi Kubota Klaus G. Moesl Ichiro Nakatani Map Matching Scheme for Position Estimation of Planetary Explorer in Natural Terrain. 3520-3525 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.364017 db/conf/icra/icra2007.html#KubotaMN07