Three dimensional structure estimation and planning with vision and range. - Li Zhang 090; Bijoy K. Ghosh (CDC, 2000)

Line Segment Based Map Building and Localization Using 2D Laser Rangefinder. - Li Zhang 090; Bijoy K. Ghosh (ICRA, 2000)

Geometric feature based 2½D map building and planning with laser, sonar and tactile sensors. - Li Zhang 090; Bijoy K. Ghosh (IROS, 2000)