@InProceedings{lamon06iros,
 TITLE =        {Mapping with an Autonomous Car},
 AUTHOR =       {Lamon, P. and Stachniss, C. and Triebel, R. and Pfaff, P. and Plagemann, C. and Grisetti, G. and Kolsky, S. and Burgard, W. and Siegwart, R.},
 BOOKTITLE =    {In IEEE/RSJ IROS 2006 Workshop: Safe Navigation in Open and Dynamic Environments},
 ADDRESS =      {Beijing, China},
 YEAR =         2006,
 Abstract =     {In this paper, we present an approach towards
mapping and safe navigation in real, large-scale environments
with an autonomous car. The goal is to enable the car to autonomously
navigate on roads while avoiding obstacles and while
simultaneously learning an accurate three-dimensional model of
the environment. To achieve these goals, we apply probabilistic
state estimation techniques, network-based pose optimization,
and a sensor-based traversability analysis approach. In order to
achieve fast map learning, our system compresses the sensor
data using multi-level surface maps. The overall system runs on
a modified Smart car equipped with different types of sensors.
We present several results obtained from extensive experiments
which illustrate the capabilities of our vehicle.}
}