@article{millane2019free,
  title={Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps},
  author={Millane, Alexander and Oleynikova, Helen and Nieto, Juan and Siegwart, Roland and Cadena, C{\'e}sar},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2019}
}