Youngbin Park Seungdo Jeong Il Hong Suh Byung-Uk Choi Map-Building and Localization by Three-Dimensional Local Features for Ubiquitous Service Robot. 69-79 2006 conf/icuct/2006 ICUCT http://dx.doi.org/10.1007/978-3-540-71789-8_8 db/conf/icuct/icuct2006.html#ParkJSC06