@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}
}