Luis Goncalves Enrico Di Bernardo Dave Benson Marcus Svedman James P. Ostrowski Niklas Karlsson Paolo Pirjanian A Visual Front-end for Simultaneous Localization and Mapping. 44-49 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#GoncalvesBBSOKP05