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![Cover for David Ribas · Underwater SLAM for Structured Environments Using an Imaging Sonar - Springer Tracts in Advanced Robotics (Paperback Book) [Softcover Reprint of the Original 1st 2010 edition] (2016)](https://imusic.b-cdn.net/images/item/original/585/9783662506585.jpg?david-ribas-2016-underwater-slam-for-structured-environments-using-an-imaging-sonar-springer-tracts-in-advanced-robotics-paperback-book&class=scaled&v=1604003695)