@ARTICLE{BAZRAIRO10,
author = {Bazeille,S. and Filliat,D.},
title = {Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping},
journal = {RAIRO - Operations Research (COGIS'09)},
volume = {44},
year = {2010},
pages = {365-377},
}