Sebastian Thrun, Christian Martin, Yufeng Liu, Dirk Hähnel, Rosemary Emery-Montemerlo, Deepayan Chakrabarti, Wolfram Burgard. A real-time expectation-maximization algorithm for acquiring multiplanar maps of indoor environments with mobile robots. IEEE Transactions on Robotics, 20(3):433-443, 2004. [doi]
Abstract is missing.