Kurt Konolige Motilal Agrawal Morten Rufus Blas Robert C. Bolles Brian P. Gerkey Joan Solà Aravind Sundaresan Mapping, navigation, and learning for off-road traversal. 88-113 2009 26 J. Field Robotics 1 http://dx.doi.org/10.1002/rob.20271 db/journals/jfr/jfr26.html#KonoligeABBGSS09