@inbook {Franz2008,
	title = {A robot system for biomimetic navigation - from snapshots to metric embeddings of view graphs},
	booktitle = {{Robotics and Cognitive Approaches to Spatial Mapping}},
	volume = {38},
	year = {2008},
	pages = {297{\textendash}314},
	publisher = {Springer},
	organization = {Springer},
	edition = {{Springer Tracts in Advanced Robotics}}
}
