Multi-resolution surfel mapping and real-time pose tracking using a continuously rotating 2D laser scanner. - Mark Schadler; Jörg Stückler; Sven Behnke (SSRR, 2013)

Rough Terrain 3D Mapping and Navigation Using a Continuously Rotating 2D Laser Scanner. - Mark Schadler; Jörg Stückler; Sven Behnke (Künstliche Intell., 2014)

NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain. - Jörg Stückler; Max Schwarz; Mark Schadler; Angeliki Topalidou-Kyniazopoulou; Sven Behnke (J. Field Robotics, 2016)