@inproceedings{mielle2016sketchmaps,
      title={Using sketch-maps for robot navigation: Interpretation and matching},
      author={Malcolm Mielle and Martin Magnusson and Achim J. Lilienthal},
      booktitle={2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
      year={2016},
      doi={10.1109/SSRR.2016.7784307}
}