@inproceedings{schwertfeger_et_al_permis10,
   author = {S{\"o}ren Schwertfeger and Adam Jacoff and Chris Scrapper and
	Johannes Pellenz and Alexander Kleiner},
   title = {Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric},
   booktitle = {Proc. of the Int. Workshop on Performance Metrics for
	Intelligent Systems {(PerMIS)}},
   pages = {344--351},
   publisher = {NIST},
   address = {Baltimore, MD, USA},
   year = {2010}
}