@INPROCEEDINGS{Koenig-ECMR-2009,
author = {Koenig, Alexander and Kessler, Jens and Gross, Horst-Michael},
title = {Improvements for an Appearance-Based {SLAM}-Approach for Large-Scale
Environments},
booktitle = {Europ. Conf. on Mobile Robots (ECMR)},
year = {2009},
pages = {235--240},
publisher = {KoREMA}
}