@inproceedings{ijcai2007p350,
  title     = {Feature Based Occupancy Grid Maps for Sonar Based Safe-Mapping},
  author    = {Pandey, Amit Kumar and Krishna, K. Madhava and Nath, Mainak},
  booktitle = {Proceedings of the Twentieth International Joint Conference on
               Artificial Intelligence, {IJCAI-07}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Ramon López de Mántaras},
  pages     = {2172---1},
  year      = {2007},
  url       = {https://ijcai.org/proceedings/2007/350},
}