@phdthesis{Schaefer2003,
  author      = {Dirk Sch{\"a}fer},
  title       = {Globale Selbstlokalisation autonomer mobiler Roboter - Ein Schl{\"u}sselproblem der Service-Robotik},
  type        = {doctoralthesis},
  school      = {Universit{\"a}t W{\"u}rzburg},
  year        = {2003},
}