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"Real-Time Algorithms and Data Structures for Underwater Mapping",
IEEE Transactions on Systems, Man, and Cybernetics, vol. 20, no. 6, pp. 1469–1475, November/Decembe, 1990.
"Real-Time Algorithms and Data Structures for Underwater Mapping",
SPIE Symposium on Sensor Fusion: Spatial Reasoning and Scene Interpretation, November, 1988.
