Media type: E-Article Title: Multi-resolution map building and loop closure with omnidirectional images Contributor: Korrapati, Hemanth; Mezouar, Youcef Published: Springer Science and Business Media LLC, 2017 Published in: Autonomous Robots, 41 (2017) 4, Seite 967-987 Language: English DOI: 10.1007/s10514-016-9560-6 ISSN: 0929-5593; 1573-7527 Origination: Footnote: