Fast and simple topological map construction based on cooccurrence frequency of landmark observation. - Takehisa Yairi; Kosuke Hirama; Koichi Hori (IROS, 2001)

Qualitative map learning based on covisibility of objects. - Takehisa Yairi; Koichi Hori; Kosuke Hirama (IEEE Trans. Syst. Man Cybern. Part B, 2005)