@inproceedings{folkesson05:-graph-slam-vision-measur-subsp,
  address       = {Edmundton, Canada},
  author        = {J. Folkesson and P. Jensfelt and H. I. Christensen},
  booktitle     = {Intl Conf. on Intelligent Robotics and Systems {(IROS)}},
  category      = {Conference},
  month         = aug,
  organization  = {IEEE/JRS},
  pages         = {3383--3390},
  pdf           = {hic-papers/johnf-iros05.pdf},
  title         = {Graphical {SLAM} using Vision and the Measurement SubSpace},
  year          = 2005
}

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