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On the Way to a Real-Time On-Board Orthogonal SLAM for an I..:

, In: Intelligent Robotics and Applications; Lecture Notes in Computer Science,
Alpen, Mirco ; Frick, Klaus ; Horn, Joachim - p. 1-11 , 2011
Link: https://doi.org/10.1007/978-3-642-25486-4_1