@article{kleiner_et_al_jfr07,
   author = {A. Kleiner and C. Dornhege},
   title = {Real-time Localization and Elevation Mapping within Urban
	Search and Rescue Scenarios},
   journal = {Journal of Field Robotics},
   volume = {24},
   number = {8--9},
   pages = {723--745},
   year = {2007},
   organization = {University of Freiburg}
}