Using 3D laser range data for SLAM in outdoor environments. - Christian Brenneke; Oliver Wulf; Bernardo Wagner (IROS, 2003)

Colored 2D maps for robot navigation with 3D sensor data. - Oliver Wulf; Christian Brenneke; Bernardo Wagner (IROS, 2004)

Autonome Navigation mobiler Systeme in natürlichen Umgebungen durch die Integration von 3D-Laserdaten (Autonomous Navigation of Mobile Systems in Natural Environments by Integration of 3D Laser Range Data). - Christian Brenneke; Oliver Wulf; Bernardo Wagner (Autom., 2005)