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José Santos-Victor, Raquel Frizera Vassallo, Hans J. Schneebeli. Topological Maps for Visual Navigation. In Henrik I. Christensen, editor, Computer Vision Systems, First International Conference, ICVS 99, Las Palmas, Gran Canaria, Spain, January 13-15, 1999, Proceedings. Volume 1542 of Lecture Notes in Computer Science, pages 21-36, Springer, 1999. [doi]

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