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Certainty Grids for Sensor Fusion in Mobile Robots
H. Moravec
Sensor Devices and Systems for Robotics, 1989, pp. 243-276.

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Note: Also CMU Robotics Institute 1987 Annual Research Review, 1988, pp. 33-48. Also in AI Magazine v9#2, Summer 1988, pp 61-77

H. Moravec, "Certainty Grids for Sensor Fusion in Mobile Robots," Sensor Devices and Systems for Robotics, 1989, pp. 243-276.

@article{Moravec_1989_1831,
   author = "Hans Moravec",
   title = "Certainty Grids for Sensor Fusion in Mobile Robots",
   journal = "Sensor Devices and Systems for Robotics",
   year = "1989",
   pages = "243-276",
   note = "Also CMU Robotics Institute 1987 Annual Research Review, 1988, pp. 33-48. Also in AI Magazine v9#2, Summer 1988, pp 61-77"
}