Eric Royer Maxime Lhuillier Michel Dhome Thierry Chateau Localization in Urban Environments: Monocular Vision Compared to a Differential GPS Sensor. 114-121 2005 conf/cvpr/2005 CVPR (2) http://dx.doi.org/10.1109/CVPR.2005.217 db/conf/cvpr/cvpr2005-2.html#RoyerLDC05