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Pfister, Samuel T. and Burdick, Joel W. (2006) Multi-scale Point and Line Range Data Algorithms for Mapping and Localization. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 1159-1166. ISBN 0-7803-9505-0 http://resolver.caltech.edu/CaltechAUTHORS:20110121-100516594

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