Fernández, Lorenzo; Payá, Luis; Reinoso, Oscar; Jimenez, Luis Miguel: 'Appearance-based approach to hybrid metric-topological simultaneous localisation and mapping', IET Intelligent Transport Systems, 2014, 8, (8), p. 688-699, DOI: 10.1049/iet-its.2013.0086
IET Digital Library, https://digital-library.theiet.org/;jsessionid=6bkg8ledmqtsg.x-iet-live-01content/journals/10.1049/iet-its.2013.0086