@ARTICLE{l.moreno2004symbolicplacerecognition,
TITLE = {Symbolic Place Recognition in Voronoi-based maps by Using Hidden Markov Models},
JOURNAL = {Journal of Intelligent and Robotic Systems},
VOLUME = {39},
NUMBER = {},
PAGES = {173 - 197},
YEAR = {2004},
AUTHOR = {L. Moreno, D. Blanco}
}