Yuval Roth-Tabak Terry E. Weymouth Using and Generating Environment Models for Indoor Mobile Robots. 343-346 1990 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1990/papers/1990343.pdf conf/mva/1990 db/conf/mva/mva1990.html#Roth-TabakW90