@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}
}