Vision-Based Probabilistic Map Estimation with an Inclined Surface Grid for Rough Terrain Rover Navigation.

Teppei Saitoh Masataka Suzuki Yoji Kuroda Vision-Based Probabilistic Map Estimation with an Inclined Surface Grid for Rough Terrain Rover Navigation. 421-440 2010 24 Advanced Robotics 3 http://dx.doi.org/10.1163/016918609X12619993300746 db/journals/ar/ar24.html#SaitohSK10