Fabio T. Ramos Juan Nieto Hugh F. Durrant-Whyte Combining Object Recognition and SLAM for Extended Map Representations. 55-64 2006 ISER http://dx.doi.org/10.1007/978-3-540-77457-0_6 conf/iser/2006 db/conf/iser/iser2006.html#RamosND06