Stephen Tully, George Kantor, Howie Choset. A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps. I. J. Robotic Res., 31(3):271-288, 2012. [doi]
@article{TullyKC12,
title = {A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps},
author = {Stephen Tully and George Kantor and Howie Choset},
year = {2012},
doi = {10.1177/0278364911433617},
url = {http://dx.doi.org/10.1177/0278364911433617},
researchr = {https://researchr.org/publication/TullyKC12},
cites = {0},
citedby = {0},
journal = {I. J. Robotic Res.},
volume = {31},
number = {3},
pages = {271-288},
}