Jana Kosecká Liang Zhou Philip Barber Zoran Duric Qualitative Image Based Localization in Indoors Environments. 3-10 2003 conf/cvpr/2003 CVPR (2) http://csdl.computer.org/comp/proceedings/cvpr/2003/1900/02/190020003abs.htm db/conf/cvpr/cvpr2003-2.html#KoseckaZBD03