How to learn accurate grid maps with a humanoid.

Cyrill Stachniss Maren Bennewitz Giorgio Grisetti Sven Behnke Wolfram Burgard How to learn accurate grid maps with a humanoid. 3194-3199 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543697 conf/icra/2008 db/conf/icra/icra2008.html#StachnissBGBB08