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Page 21, last par. accepted for publication in Robotics and Autonomous Systems

in Robotics and Autonomous Systems, Elsevier, 56:6, June 30, 2008, pp. 483-492 Page 24, 3

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par. (IMU) compass, (IMU), compass, Page 37, 2

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par. the central 2

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moments best-fit bounding boxes Page 47, 3

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par. is needed as a building

detector in Chapter 7,

is utilized in Chapter 5 to build the probabilistic semantic map needed in Chapter 7,

Page 50, last par. features 1-3 features 1-2 Page 76,

2

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par. in 4.8

it can be beneficial to dist- inguish between stationary and movable objects in any mapping process.

it is generally beneficial to distinguish between stationary and movable objects.

Page 85, 1

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row detection is detection (Section 4.5) is Page 86, last par. Markov property Markov assumption Page 88, 3

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the group of lines L

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par., Page 124, 2

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