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On the way to a real-time on-board orthogonal SLAM for an i..:

, In: Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I,
Alpen, Mirco ; Frick, Klaus ; Horn, Joachim - p. 1-11 , 2011
Link: https://dl.acm.org/doi/10.1007/978-3-642-25486-4_1