A Rigorously Bayesian Beam Model and an Adaptive Full Scan Model for Range Finders in Dynamic Environments.

Tinne De Laet Joris De Schutter Herman Bruyninckx A Rigorously Bayesian Beam Model and an Adaptive Full Scan Model for Range Finders in Dynamic Environments. 179-222 2008 33 J. Artif. Intell. Res. (JAIR) http://jair.org/papers/paper2540.html db/journals/jair/jair33.html#LaetSB08