@article{mielle2019ursim,
      title={URSIM: Unique Regions for Sketch Map Interpretation and Matching},
      author={Malcolm Mielle and Martin Magnusson and Achim J. Lilienthal},
      journal={Robotics},
      volume={8},
      number={2},
      pages={43},
      year={2019},
      doi={10.3390/robotics8020043}
}