# Persistent localization and life-long mapping in changing environments using the Frequency Map Enhancement

> Research article (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016) · cited 42× · AI/ML

**Wikidata**: [openalex:W2531126657](https://www.wikidata.org/wiki/openalex:W2531126657)  
**Source**: https://4ort.xyz/entity/persistent-localization-and-life-long-mapping-in-changing-environments-using-the-frequency-map-enhancement