Hartmut Surmann Kai Pervölz Andreas Nüchter Kai Lingemann Joachim Hertzberg Matthias Hennig Simultanous Mapping and Localization of Rescue Environments. 282-291 2005 47 it - Information Technology 5 http://dx.doi.org/10.1524/itit.2005.47.5_2005.282 db/journals/it/it47.html#SurmannPNLHH05