On measurement models for line segments and point based SLAM. - Satish Pedduri; Gururaj Kosuru; K. Madhava Krishna; Amit Kumar Pandey (ICAR, 2009)

Data association using empty convex polygonal regions in EKF-SLAM. - Gururaj Kosuru; Satish Pedduri; K. Madhava Krishna (ROBIO, 2010)