City-Scale Grid-Topological Hybrid Maps for Autonomous Mobile Robot Navigation in Urban Area. - Shun Niijima; Ryusuke Umeyama; Yoko Sasaki; Hiroshi Mizoguchi (IROS, 2020)

Action Node Graph: Graph Design for Mobile Robot Route Planning in Cities. - Ryusuke Umeyama; Shun Niijima; Yoko Sasaki; Hiroshi Takemura (SII, 2022)

Semi-Automatic Town-Scale 3D Mapping Using Building Information From Publicly Available Maps. - Shun Niijima; Ryusuke Umeyama; Yoko Sasaki; Hiroshi Mizoguchi (IEEE Access, 2022)