A Vision-Based Trajectory Controller for Autonomous Cleaning Robots. - Lorenz Gerstmayr; Frank Röben; Martin Krzykawski; Sven Kreft; Daniel Venjakob; Ralf Möller 002 (AMS, 2009)

Dense topological maps and partial pose estimation for visual control of an autonomous cleaning robot. - Lorenz Gerstmayr-Hillen; Frank Röben; Martin Krzykawski; Sven Kreft; Daniel Venjakob; Ralf Möller 002 (Robotics Auton. Syst., 2013)