Principles and practice of real-time visual tracking for navigation and mapping. Burschka, D. & Hager, G. D In International Workshop on Robot Sensing, 2004. ROSE 2004., pages 1–8, 2004. IEEE.
bibtex   
@inproceedings{burschka2004principles,
  title={Principles and practice of real-time visual tracking for navigation and mapping},
  author={Burschka, Darius and Hager, Gregory D},
  booktitle={International Workshop on Robot Sensing, 2004. ROSE 2004.},
  pages={1--8},
  year={2004},
  organization={IEEE}
}

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