V-GPS (SLAM): Vision-based inertial system for mobile robots. Burschka, D. & Hager, G. D In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA'04. 2004, volume 1, pages 409–415, 2004. IEEE.
bibtex   
@inproceedings{burschka2004v,
  title={V-GPS (SLAM): Vision-based inertial system for mobile robots},
  author={Burschka, Darius and Hager, Gregory D},
  booktitle={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA'04. 2004},
  volume={1},
  pages={409--415},
  year={2004},
  organization={IEEE}
}

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