Nevlyudov, I., S. Novoselov, and K. Sukhachov. “METHOD OF SIMULTANEOUS LOCALIZATION AND MAPPING FOR CONSTRUCTION OF 2.5D MAPS OF THE ENVIRONMENT USING ROS”. INNOVATIVE TECHNOLOGIES AND SCIENTIFIC SOLUTIONS FOR INDUSTRIES, no. 2 (24), Nov. 2023, pp. 145-60, doi:10.30837/ITSSI.2023.24.145.