Unsupervised texture segmentation for 2D probabilistic occupancy maps. - Bassel Abou Merhy; Pierre Payeur; Emil M. Petriu (ROSE, 2005)

Application of Segmented 2-D Probabilistic Occupancy Maps for Robot Sensing and Navigation. - Bassel Abou Merhy; Pierre Payeur; Emil M. Petriu (IEEE Trans. Instrum. Meas., 2008)