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@INPROCEEDINGS{,
     author = {Blanco, José-Luis and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
      month = {may},
      title = {Consistent Observation Grouping for Generating Metric-Topological Maps that Improves Robot Localization},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA'06)},
       year = {2006},
   location = {Orlando, Florida (USA)},
        doi = {10.1109/ROBOT.2006.1641810}
}