Cyrill Stachniss, Giorgio Grisetti, Óscar Martínez Mozos, Wolfram Burgard. Efficiently Learning Metric and Topological Maps with Autonomous Service Robots (Effizientes Lernen metrischer und topologischer Karten mit autonomen Servicerobotern). it - Information Technology, 49(4):232, 2007. [doi]
Abstract is missing.