Robust global scan matching method using congruence transformation invariant feature descriptors and a geometric constraint between keypoints. - Takayuki Nakamura; Shohei Wakita (SMC, 2014)

Laser Variational Autoencoder for Map Construction and Self-Localization. - Shohei Wakita; Takayuki Nakamura; Hirotaka Hachiya (SMC, 2018)