View-Based Robot Localization Using Illumination-Invariant Spherical Harmonics Descriptors.

Holger Friedrich David Dederscheck Martin Mutz Rudolf Mester View-Based Robot Localization Using Illumination-Invariant Spherical Harmonics Descriptors. 543-550 2008 VISAPP (2) conf/visapp/2008-2 db/conf/visapp/visapp2008-2.html#FriedrichDMM08