# A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 15× · AI/ML

**Wikidata**: [openalex:W3126205857](https://www.wikidata.org/wiki/openalex:W3126205857)  
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