@ARTICLE{Thrun-TRA-2003,
author = {Thrun, Sebastian and Martin, {\relax Ch}ristian and Liu, Yufeng and
Haehnel, Dirk and Emery-Montemerlo, Rosemary and Chakrabarti, Deepayan
and Burgard, Wolfram},
title = {A Real-Time Expectation Maximization Algorithm for Acquiring Multi-Planar
Maps of Indoor Evironments with Mobile Robots},
journal = {IEEE Transaction on Robotics and Automation},
year = {2003},
volume = {20},
pages = {433--442}
}