@article {FraSchMalBue98a,
	title = {Learning view graphs for robot navigation},
	journal = {Autonomous Robots},
	volume = {5},
	year = {1998},
	pages = {111~{\textendash}~125},
	author = {M O Franz and Sch{\"o}lkopf, B and Mallot, H A and B{\"u}lthoff, H H}
}
