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Towards lifelong visual maps Konolige, Kurt., and Bowman, James IROS - best paper finalist, p.1156-1163, (2009)  Download: lifemap.pdf (1.98 MB)
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View-based maps Konolige, Kurt., Bowman, James., Chen, J. D.., Mihelich, Patrick., Calonder, Michael., Lepetit, Vincent., and Fua, Pascal Proceedings of Robotics: Science and Systems, June, Seattle, USA, (2009)  Download: viewmap.pdf (2.29 MB)
View-based maps Konolige, Kurt., Bowman, James., Chen, J. D.., Mihelich, Patrick., Calonder, Michael., Lepetit, Vincent., and Fua, Pascal International Journal of Robotics Research (IJRR), Volume 29, Issue 10, Number 10, (2010)  Download: viewmap.pdf (2.24 MB)