Patrick Pfaff, Rudolph Triebel, Wolfram Burgard. An Efficient Extension to Elevation Maps for Outdoor Terrain Mapping and Loop Closing. I. J. Robotic Res., 26(2):217-230, 2007. [doi]
@article{PfaffTB07,
title = {An Efficient Extension to Elevation Maps for Outdoor Terrain Mapping and Loop Closing},
author = {Patrick Pfaff and Rudolph Triebel and Wolfram Burgard},
year = {2007},
doi = {10.1177/0278364906075165},
url = {http://dx.doi.org/10.1177/0278364906075165},
researchr = {https://researchr.org/publication/PfaffTB07},
cites = {0},
citedby = {0},
journal = {I. J. Robotic Res.},
volume = {26},
number = {2},
pages = {217-230},
}