A practical approach for EKF-SLAM in an indoor environment: fusing ultrasonic sensors and stereo camera.

SungHwan Ahn Jinwoo Choi Nakju Lett Doh Wan Kyun Chung A practical approach for EKF-SLAM in an indoor environment: fusing ultrasonic sensors and stereo camera. 315-335 2008 24 Auton. Robots 3 http://dx.doi.org/10.1007/s10514-007-9083-2 db/journals/arobots/arobots24.html#AhnCDC08