@inproceedings {pub3346,
	title = {Working area mapping with an autonomous lawn mower},
	author = {Nils Einecke AND Keiji Muro AND J{\"o}rg Deigm{\"o}ller AND Mathias Franzius},
	year = {2017},
	month = {September},
	abstract = {In this work we show a new technique for loop closing using the special setup of autonomous lawn mowers. By estimating the movement while travelling around the border wire we get a first shot estimation of the the boundary. This will not be very precise. Additionally,  using a loop closing at the base station and by distributing the end point error depending on the estimated motion at each time step, the results are strongly improved. Furthermore, we present some results of representing the estimated border by means of a polygon and the reduction of this using state-of-the-art polygon-reduction algorithms.},
	publisher = {Springer},
	booktitle = {Field and Service Robotics},
	pages = {351--365}
}