@InProceedings{thrun03:system,
  author = 	 {D. H{\"a}hnel and R. Triebel and W. Burgard and S. Thrun},
  title = 	 {Map Building with Mobile Robots in Dynamic Environments},
  booktitle = 	 {"Proc.~of the International Conference on Robotics and Automation(ICRA)"},
  year =	 2003
}