Metric Localization with Scale-Invariant Visual Features Using a Single Perspective Camera.

Maren Bennewitz Cyrill Stachniss Wolfram Burgard Sven Behnke Metric Localization with Scale-Invariant Visual Features Using a Single Perspective Camera. 195-209 2006 EUROS http://dx.doi.org/10.1007/11681120_16 conf/euros/2006 db/conf/euros/euros2006.html#BennewitzSBB06