A real-time expectation-maximization algorithm for acquiring multiplanar maps of indoor environments with mobile robots.
['Sebastian Thrun', 'Christian Martin', 'Yufeng Liu', 'Dirk Hähnel', 'Rosemary Emery-Montemerlo', 'Deepayan Chakrabarti', 'Wolfram Burgard']
A real-time expectation-maximization algorithm for acquiring multiplanar maps of indoor environments with mobile robots.