Rudolph Triebel, Patrick Pfaff, Wolfram Burgard. Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China. pages 2276-2282, IEEE, 2006. [doi]
Abstract is missing.