@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}},
	author = {M O Franz and St{\"u}rzl, W and H{\"u}bner, W and Mallot, H A},
	editor = {Yeap, A W and Jefferies, M}
}
