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Suresh Kumar, José E. Guivant, Hugh F. Durrant-Whyte. Informative Representations of Unstructured Environments. In Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA. pages 212-217, IEEE, 2004. [doi]

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