@inproceedings{krajnik2014spectral,
  title={Spectral analysis for long-term robotic mapping},
  author={Krajn{\i}k, Tom{\'a}{\v{s}} and Fentanes, Jaime Pulido and Cielniak, Grzegorz and Dondrup, Christian and Duckett, Tom},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  year={2014}
}