Outdoor Map Construction Based on Aerial Photography and Electrical Map Using Multi-Plane Laser Range Scan Data. - Taketoshi Mori; Takahiro Sato; Aiko Kuroda; Masayuki Tanaka 007; Masamichi Shimosaka; Tomomasa Sato; Hiromi Sanada; Hiroshi Noguchi (J. Robotics Mechatronics, 2013)