@conference {18294, title = {Ground and airborne localization over rough terrain using random environmental range-measurements}, booktitle = {Pattern Recognition, 1992. Vol. I. Conference A: Computer Vision and Applications, Proceedings., 11th IAPR International Conference on}, year = {1992}, month = {1992///}, pages = {403 - 406}, author = {Yacoob,Yaser and Davis, Larry S.} }