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A hierarchical object based representation for simultaneous localization and mapping

Chieh-Chih Wang, Charles E. Thorpe. A hierarchical object based representation for simultaneous localization and mapping. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004. pages 412-418, IEEE, 2004. [doi]

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