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

 publisher = {{Springer International Publishing}},

 url = {{https://eprints.whiterose.ac.uk/id/eprint/95702 https://dx.doi.org/10.1007/978-3-319-22416-9_19 }},

 year = {{2015}},

 month = {{7}},

 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 = {{978-3-319-22415-2}},

 volume = {{9287}},

 journal = {{Towards Autonomous Robotic Systems}},

 pages = {{161-166}},

 note = {{Accessed on 2025/11/26}}}