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High Accuracy Local Map Generation Method Based on Precise ..:

Yoshiko Kojima ; Jun-ichi Meguro ; Hiroyuki Ishida...
https://www.jstage.jst.go.jp/article/jsaeijae/3/2/3_20124030/_article/-char/en.  , 2012
Link: https://doi.org/10.20485/jsaeijae.3.2_63