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View Underwater SLAM for structured environments using an imaging sonar By David Ribas 
Underwater SLAM for structured environments using an imaging sonar
By David Ribas
View 3d Robotic Mapping The Simultaneous Localization And Mapping Problem With Six Degrees Of Freedom By Andreas Nuchter 
3d Robotic Mapping The Simultaneous Localization And Mapping Problem With Six Degrees Of Freedom
By Andreas Nuchter