Multi level modeling and loop closing with GridTiles. - Christian Heigele; Holger Mielenz; Joerg Heckel; Dieter Schramm (MMAR, 2013)

Accurate and fast localization in unstructured environment based on shape context keypoints. - Christian Heigele; Holger Mielenz; Joerg Heckel; Dieter Schramm (FUSION, 2014)