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Global Localization Over 2D Floor Plans with Free-Space Den..:

, In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Maffei, Renan ; Pittol, Diego ; Mantelli, Mathias.. - p. 4609-4614 , 2020
Link: https://doi.org/10.1109/IROS45743.2020.9340642