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    Title = {Convexity Rule for Shape Decomposition Based on Discrete Contour Evolution},
    Volume = {73},
    Year = {1999}}

@article{latecki-JEI:00,
    Author = {L. J. Latecki and R.-R. Ghadially and R. Lak{\"a}mper and U.
Eckhardt},
    Journal = {Journal of Electronic Imaging},
    Month = {July},
    Number = {3},
    Page = {317 -- 326},
    Title = {Continuity of the discrete curve evolution},
    Volume = {9},
    Year = {2000}}

@article{latecki-lakaemper-PAMI:00,
    Author = {L. J. Latecki and R. Lak{\"a}mper},
    Journal = {IEEE Trans. Pattern Analysis and Machine Intelligence},
    Number = {10},
    Page = {1185 -- 1190},
    Title = {Shape Similarity Measure Based on Correspondence of Visual Parts},
    Volume = {22},
    Year = {2000}}

@article{latecki-PR:02,
    Author = {L. J. Latecki and R. Lak{\"a}mper},
    Journal = {Pattern Recognition (PR)},
    Number = {1},
    Title = {Application of Planar Shape Comparison to Object Retrieval in Image Databases},
    Volume = {35},
    Year = {2002}}

@inproceedings{siddiqi-etal:99,
    Address = {Corfu, Greece},
    Author = {K. Siddiqi and S. Bouix and A. Tannenbaum and S. W. Zucker},
    Booktitle = {Proc. of International Conference on Computer Vision},
    Conference = {International Conference on Computer Vision},
    Month = {September},
    Title = {The Hamilton-Jacobi Skeleton},
    Year = {1999}}

@inproceedings{Dimitrov-CVPR:00,
    Address = {Hilton Head, South Carolina},
    Author = {P. Dimitrov and C. Phillips and K. Siddiqi},
    Booktitle = {Proc. of Conference on Computer Vision and Pattern Recognition},
    Conference = {Conference on Computer Vision and Pattern Recognition (Hilton Head, South Carolina)},
    Month = {June},
    Title = {Robust and Efficient Skeletal Graphs},
    Year = {2000}}

@inproceedings{jefferies-etal:01,
    Address = {Marbella, Spain},
    Annote = {Describes a spatial representation motivated by work on cognitive maps. The representation proposed is based upon local views perceived by a Pioneer equipped with a laser-range-finder. Local views are connected to a global topological map.
Details are to be found in yeap-jefferies-ai:99},
    Author = {Jefferies, M.E. and Yeap, W.K. and Smith, L. and Ferguson, D.},
    Booktitle = {Proc. IASTED International Conference on Artificial Intelligence and Applications},
    Keywords = {cognitive maps, robot navigation, spatial reasoning},
    Local-Url = {/Users/diedrich/Documents/paper/Roboter/jefferiesAIA01.pdf},
    Ordner = {robotics},
    Title = {Building a Map for robot navigation using a theory of cognitive maps},
    Url = {http://www.cs.waikato.ac.nz/~mjeff/papers/IASTED-AIA01.pdf},
    Year = {2001}}

@article{yeap-jefferies-ai:99,
    Annote = {Some notes on shape of the environment: shape is equated with boundary. Their approach on representing open space (by means of exits) is opposed to (in their words) shape-based approaches.
Identification of exits is central to their approach. It is also outlined how to forget parts of the environment. Learning of a more detailed representation is performed in a stepwise manner. Some so-called fuzzy local maps (fuzzy ASR, ASR=absolute spatial representation) are introduced.},
    Author = {Yeap,W.K. and Jefferies, M.E.},

    Journal = {Artificial Intelligence},
    Keywords = {cognitive maps, robot navigation, spatial reasoning, spatial representation},
    Local-Url = {/Users/diedrich/Documents/paper/robotics and scan-matching/yeap-jefferies-ai99.pdf},
    Title = {Computing a representation for the local environment},
    Url = {http://www.cs.waikato.ac.nz/~mjeff/papers/aij99.pdf},
    Volume = {107},
    Year = {1999}}

@inproceedings{jefferies-yeap-cosit:01,
    Annote = {Adresses the recognition of a local surrounding by means of an dedicated memory (MFIFS = Memory for the Immedieate Surroundings)},
    Author = {Jefferies, M.E. and Yeap, W.K.},
    Booktitle = {Proc 2001 Conference on Spatial Information Theory},
    Local-Url = {/Users/diedrich/Documents/paper/robotics and scan-matching/jefferies-COSIT01.pdf},
    Title = {The utility of global representations in a cognitive map},
    Url = {http://www.cs.waikato.ac.nz/~mjeff/papers/COSIT2001.pdf},
    Year = {2001}}

@inproceedings{roefer-IROS:02,
    Annote = {Histogram-based correlation based on line-segments for mapping the MZH.},
    Author = {R{\"o}fer, T.},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics Systems (IROS-2002)},
    Title = {Using Histogram Correlation to Create Consistent Laser Scan Maps},
Pages = {625-630},
    Year = {2002}}

@inproceedings{haehnel-etal-IROS:03,
    Author = {Dirk H{\"a}hnel and Wolfram Burgard and Dieter Fox and Sebastian Thrun},
    Booktitle = {Proceedings of the Conference on Intelligent Robots and Systems (IROS)},
    Title = {An Efficient {FastSLAM} Algorithm for Generating Maps of Large-Scal Cyclic Environments from Raw Laser Range Measurements},
    Year = {2003}}

@inproceedings{haehnel-etal-IROS:02,
    Author = {D. H{\"a}hnel and D. Schulz and W. Burgard},
    Booktitle = {Proceedings of International Conference on Intelligent Robots and Systems (IROS'02)},
    Title = {Map Building with Mobile Robots in Populated Environments},
    Year = {2002}}

@phdthesis{gutmann:00,
    Author = {Jens-Steffen Gutmann},
    Note = {(in {G}erman)},
    School = {University of Freiburg},
    Title = {{R}obuste {N}avigation autonomer mobiler {S}ysteme},
    Year = {2000}}

@article{lu-milios-JIRS:97,
    Author = {Lu, F. and Milios, E.},
    Journal = {Journal of Intelligent and Robotic Systems},
    Title = {Robot Pose Estimation in Unknown Environments by Matching {2D} Range Scans},
    Year = {1997}}

@article{dissanayake-etal-TRA:01,
    Abstract = {The simultaneous localisation and map building
(SLAM) problem asks if it is possible for an autonomous ve- hicle to start in an unknown location in an unknown environ- ment and then to incrementally build a map of this environ- ment while simultaneously using this map to compute abso- lute vehicle location. Starting from the estimation-theoretic foundations of this problem developed in [1], [2], [3], this pa- per proves that a solution to the SLAM problem is indeed possible. The underlying structure of the SLAM problem is rst elucidated. A proof that the estimated map converges monotonically to a relative map with zero uncertainty is then developed. It is then shown that the absolute accuracy of the map and the vehicle location reach a lower bound de- ned only by the initial vehicle uncertainty. Together, these results show that it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and, using relative observations only, incrementally build a perfect map of the world and to compute simultaneously a bounded estimate of vehicle location.
This paper also describes a substantial implementation of the SLAM algorithm on a vehicle operating in an out- door environment using millimeter-wave (MMW) radar to provide relative map observations. This implementation is used to demonstrate how some key issues such as map man- agement and data association can be handled in a practical environment. The results obtained are cross-compared with absolute locations of the map landmarks obtained by sur- veying. In conclusion, this paper discusses a number of key issues raised by the solution to the SLAM problem including sub-optimal map-building algorithms and map management.},
    Annote = {Kalman-filter in SLAM application},
    Author = {G. Dissanayake and P. Newman and S. Clark and H.F.
Durrant-Whyte and
M. Csorba},
    Journal = {IEEE Trans. of Robotics and Automation},
    Keywords = {SLAM Kalman-filter},
    Local-Url = {/Users/diedrich/Documents/Literatur/robotics and scan-matching/Dissanayake-etal-SLAM.pdf},
    Title = {A Solution to the Simultaneous Localization and Map Building
({SLAM})
Problem},
    Year = {2001}}

@inproceedings{fox-etal:01,
    Author = {Dieter Fox and Sebastian Thrun and Wolfram Burgard and Frank Dellaert},
    Booktitle = {Sequential Monte Carlo Methods in Practice},
    Local-Url = {/Users/diedrich/Documents/Literatur/robotics and scan-matching/fox-etal-particle01.pdf},
    Publisher = {Springer, New York},
    Title = {Particle Filters for Mobile Robot Localization},
    Url = {citeseer.ist.psu.edu/fox01particle.html},
    Year = {2001}}

@inproceedings{montemerlo-etal-ijcai:03,
    Abstract = {In [15], Montemerlo et al. proposed an algorithm called FastSLAM as an efficient and robust solution to the simultaneous localization and mapping problem. This paper describes a modified version of FastSLAM that overcomes important deficiencies of the original algorithm. We prove convergence of this new algorithm for linear SLAM problems and provide real-world experimental results that illustrate an order of magnitude improvement in accuracy over the original FastSLAM algorithm.},
    Author = {Michael Montemerlo and Sebastian Thrun and Daphne Koller and Ben Wegbreit},
    Booktitle = {Proceedings of IJCAI},
    Local-Url = {/Users/diedrich/Documents/Literatur/robotics and scan-matching/montemerlo-etal-ijcai03.pdf},
    Title = {{FastSLAM} 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges},
    Year = {2003}}

@inproceedings{lu-milios-CVPR:94,
    Author = {Lu, F. and Milios, E.},
    Booktitle = {CVPR94},
    Local-Url = {/Users/diedrich/Documents/Literatur/robotics and scan-matching/lu-milios-CVPR94.pdf},
    Pages = {935--938},
    Title = {Robot Pose Estimation in Unknown Environments by Matching {2D} Range Scans},
    Year = {1994}}

@inproceedings{latecki-lakaemper-wolter-DGCI:03,
    Author = {L. J. Latecki and R. Lakaemper and D. Wolter},
    Booktitle = {Proc. of the 11th Int. Conf. on Discrete Geometry for Computer Imagery (DGCI), Naples, Italy},
    Month = {November},
    Title = {Shape Similarity and Visual Parts},
    Year = {2003}}

@inproceedings{wolter-latecki-PRICAI:04,
    Address = {Auckland, New Zealand},
    Author = {D. Wolter and L. J. Latecki},
    Booktitle = {Proc. of 8th Pacific Rim Int. Conf. on Artificial Intelligence},
    Editor = {Chengqi Zhang and Hans W. Guesgen and Wai K. Yeap},
    Month = {August},
    Title = {Shape Matching for Robot Mapping},
    Year = {2004}}

@incollection{Nettleton00,
    Author = {E. Nettleton and H. Durrant-Whyte and P. Gibbens and A. Goktogan },
    Booktitle = {Sensor Fusion and Decentralized Control in Robotic Systems III},
    Editor = {G. T. McKee and P. S. Schenker},
    Publisher = {Bellingham},
    Title = {Multiple platform localization and map building},
    Pages = {337--347},
    Year = {2000}}

@incollection{thrun:02,
    Author = {Thrun, S.},
    Booktitle = {Exploring Artificial Intelligence in the New Millenium},
    Editor = {Lakemeyer, G. and Nebel, B.},
    Publisher = {Morgan Kaufmann},
    Title = {Robotic Mapping: A Survey},
    Year = {2002}}

@article{thrun:00,
    Author = {Thrun, S.},
    Journal = {AI Magazine},
    Number = {4},
    Pages = {93--109},
    Title = {Probabilistic Algorithms in Robotics},
    Volume = {21},
    Year = {2000}}

@inproceedings{thrun-etal-ICRA:00,
    Address = {San Francisco, CA},
    Author = {Thrun, S. and Burgard, W. and Fox, D.},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Publisher = {IEEE},
    Title = {A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and {3D} Mapping},
    Year = {2000}}

@article{thrun:98,
    Author = {S. Thrun},
    Journal = {Artificial Intelligence},
    Number = {1},
    Pages = {21--71},
    Title = {Learning Metric-Topological Maps for Indoor Mobile Robot Navigation},
    Volume = {99},
    Year = {1998}}

@article{Tardos02,
    Author = {J. D. Tardos and J. Neira and P. M. Newman and J. J. Leonard},
    Journal = {Int. J. Robotics Research},
    Number = {5(4)},
    Pages = {311--330},
    Title = {Robust mapping and localization in indoor environments using sonar data.},
    Year = {2002}}


@phdthesis{elfes:89,
    Annote = {Einfuehrung der occupancy grids},
    Author = {A. Elfes},
    School = {Department of Electrical and Computer Engineering, Carnegie Mellon University},
    Title = {Occupancy Grids: A Probabilistic Framework for Robot Perception and Navigation},
    Year = {1989}}

@article{siddiqi-etal-IJCV:99,
    Author = {K. Siddiqi and A. Shokoufandeh and S. J. Dickinson and S. W.
Zucker},
    Journal = {International Journal of Computer Vision},
    Number = {1},
    Pages = {13--32},
    Title = {Shock Graphs and Shape Matching},
    Volume = {35},
    Year = {1999}}

@article{sebastian-etal-PAMI:02,
    Author = {Thomas B. Sebastian and Philip N. Klein and Benjamin B. Kimia},
    Journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
    Number = {1},
    Pages = {116--125},
    Title = {On Aligning Curves},
    Volume = {25},
    Year = {2003}}

@incollection{blum:67,
    Author = {H. Blum},
    Booktitle = {Models for the Perception of Speech and Visual Form},
    Editor = {W. Walthen-Dunn},
    Publisher = {MIT press},
    Title = {A transformation for extracting new descriptors of shape},
    Year = {1967}}

@book{computational-geometry,
    Author = {Mark de Berg AND Marc van Kreveld and Mark Overmars and Otfried Schwarzkopf},
    Publisher = {Springer-Verlag},
    Title = {Computational Geometry. Algorithms and Applications},
    Year = {2000}}

@incollection{cox:90,
    Author = {Ingemar J. Cox},
    Booktitle = {Autonomous Robot Vehicles},
    Editor = {Ingemar J. Cox and G.T. Wilfong},
    Pages = {221--228},
    Publisher = {Springer-Verlag},
    Title = {Blanche: Position estimation for an autonomous robot vehicle},
    Year = {1990}}
