Puente Yusty, Paloma de la and Censi, Andrea (2012). Dense Map Inference with User-Defined Priors: From Priorlets to Scan Eigenvariations. In: "Spatial Cognition VIII", 01/09/2012 - 03/09/2012, Kloster Seeon, Bavaria, Alemania. ISBN 978-3-642-32732-2_6. pp. 94-113.