Hauke Strasdat Cyrill Stachniss Maren Bennewitz Wolfram Burgard Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching. 15-21 2007 AMS http://dx.doi.org/10.1007/978-3-540-74764-2_3 conf/ams/2007 db/conf/ams/ams2007.html#StrasdatSBB07