@InProceedings{pfaff07:towards,
  author = 	 {P. Pfaff and R. Triebel and C. Stachniss and P. Lamon and W. Burgard and R. Siegwart},
  title = 	 {Towards Mapping of Cities},
  booktitle =	 {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
  year =	 2007
}