Giuseppe Spampinato Arcangelo Bruna Ivana Guarneri Davide Giacalone Deep Learning Localization with 2D Range Scanner. 206-210 2021 ICARA https://doi.org/10.1109/ICARA51699.2021.9376424 conf/icara/2021 db/conf/icara/icara2021.html#SpampinatoBGG21