Diedrich Wolter Christian Freksa Longin Jan Latecki Towards a Generalization of Self-localization. 105-134 2008 Robotics and Cognitive Approaches to Spatial Mapping http://dx.doi.org/10.1007/978-3-540-75388-9_7 series/star/2008-38 db/series/star/star38.html#WolterFL08