3D reconstruction of indoor scenes by casting visual rays in an occupancy grid. - Samir Shaker; Daniel C. Asmar; Imad H. Elhajj (ROBIO, 2010)

2D occupancy-grid SLAM of structured indoor environments using a single camera. - Daniel C. Asmar; Samir Shaker (Int. J. Mechatronics Autom., 2012)