On estimating a robot's motion from laser range measurements using the distance transform. - Per Ljunggren Klöör; Åke Wernersson (ICPR (1), 1992)

On Motion Estimation For A Mobile Robot Navigating In Natural Environment: Matching Laser Range Measurements Using The Distance Transform. - Per Ljunggren Klöör; Åke Wernersson (IROS, 1992)