1. Anguelov, D., Taskar, B., Chatalbashev, V., Koller, D., Gupta, D., Heitz, G., Ng, A.: Discriminative learning of Markov random fields for segmentation of 3D scan data. In: Proc. of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR (2005)
2. Bosse, M., Zlot, R.: Place recognition using regional point descriptors for 3d mapping. In: Proc. of the International Conference on Field and Service Robotics, FSR (2009)
3. Choset, H., Lynch, K.M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L.E., Thrun, S.: Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, Cambridge (2005)
4. MIT Urban Challenge datasets,
http://grandchallenge.mit.edu/wiki/index.php/PublicData
5. Johnson, A.: Spin-Images: A Representation for 3-D Surface Matching. PhD thesis, Carnegie Mellon University (1997)