@inproceedings{inproceedings, title  = {{Robot Mapping and Localisation for Feature Sparse Water Pipes Using Voids as Landmarks}},

 publisher = {{Springer International Publishing}},

 url = {{http://eprints.whiterose.ac.uk/95702/ }},

 year = {{2015}},

 month = {{1}},

 author = {{Ma K and Zhu J and Dodd TJ and Collins R and Anderson SR}},

 doi = {{10.1007/978-3-319-22416-9_19}},

 isbn = {{9783319224152}},

 pages = {{161-166}},

 note = {{Accessed on 2024/09/19}}}