Weighted Range Sensor Matching Algorithms for Mobile Robot Displacement Estimation. - Samuel T. Pfister; Kristopher L. Kriechbaum; Stergios I. Roumeliotis; Joel W. Burdick (ICRA, 2002)

Weighted line fitting algorithms for mobile robot map building and efficient data representation. - Samuel T. Pfister; Stergios I. Roumeliotis; Joel W. Burdick (ICRA, 2003)

Multi-scale point and line range data algorithms for mapping and localization. - Samuel T. Pfister; Joel W. Burdick (ICRA, 2006)