@article{DBLP:journals/computer/Elfes89,
author = {Alberto Elfes},
title = {Using Occupancy Grids for Mobile Robot Perception and Navigation},
journal = {IEEE Computer},
volume = {22},
number = {6},
year = {1989},
pages = {46-57},
ee = {http://doi.ieeecomputersociety.org/10.1109/2.30720},
bibsource = {DBLP, http://dblp.uni-trier.de}
}