Oulette, Robert, and Kotaro Hirasawa. “Automated Map Comparison Using Non-Invariant Fourier Descriptors”. Journal of Automation, Mobile Robotics and Intelligent Systems 6, no. 1 (January 2, 2012): 15–21. Accessed April 30, 2025. https://www.jamris.org/index.php/JAMRIS/article/view/205.