Felix Werner Charles Gretton Frédéric Maire Joaquin Sitte Induction of topological environment maps from sequences of visited places. 2890-2895 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650828 conf/iros/2008 db/conf/iros/iros2008.html#WernerGMS08