SIFT based Graphical SLAM on a packbot. Folkesson, J. & Christensen, H. I. In Laugier, C. & Siegwart, R., editors, Field and Service Robotics, volume 42, of Springer Tracts in Advanted Robotics, pages 317–328, Heidelberg, Germany, March, 2008. Springer Verlag.
bibtex   
@inproceedings{folkesson08:-sift-graph-slam,
  address       = {Heidelberg, Germany},
  author        = {J. Folkesson and H. I. Christensen},
  booktitle     = {Field and Service Robotics},
  category      = {Conference},
  editor        = {C. Laugier and R. Siegwart},
  month         = mar,
  pages         = {317--328},
  publisher     = {Springer Verlag},
  series        = {Springer Tracts in Advanted Robotics},
  title         = {{SIFT} based Graphical {SLAM} on a packbot},
  volume        = 42,
  year          = 2008
}
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