A line segment based system for 2D global mapping. - Jan Elseberg; Ross T. Creed; Rolf Lakaemper (ICRA, 2010)

Fast plane extraction in 3D range data based on line segments. - Kristiyan Georgiev; Ross T. Creed; Rolf Lakaemper (IROS, 2011)

A hybrid approach to 2D robotic map evaluation. - Ross T. Creed; Kristiyan Georgiev; Rolf Lakaemper (PerMIS, 2012)