NuskeRW09'

@article{DBLP:journals/jfr/NuskeRW09,
  author    = {Stephen Nuske and
               Jonathan M. Roberts and
               Gordon Wyeth},
  title     = {Robust outdoor visual localization using a three-dimensional-edge
               map},
  journal   = {J. Field Robotics},
  volume    = {26},
  number    = {9},
  year      = {2009},
  pages     = {728-756},
  ee        = {http://dx.doi.org/10.1002/rob.20306},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}