@inproceedings{MuPaDeToEs02,
  author={R. Murrieta-Cid and C. Parra and M. Devy and B. Tovar and C. Esteves},
  title={Building Multi-Level Models: From Landscapes to Landmarks},
  booktitle={Proc. IEEE International Conference on Robotics and Automation},
  pages={4346-4353},
  year={2002}}