Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor.

Ömür Bozma Roman Kuc Building a Sonar Map in a Specular Environment Using a Single Mobile Sensor. 1260-1269 1991 13 IEEE Trans. Pattern Anal. Mach. Intell. 12 http://computer.org/tpami/tp1991/i1260abs.htm db/journals/pami/pami13.html#BozmaK91