Francesco Amigoni, Simone Gasparini. Analysis of methods for reducing line segments in maps: Towards a general approach.
IROS 2008 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. pp.2896-2901,
⟨10.1109/IROS.2008.4650847⟩.
⟨inria-00435547⟩