ORB-SLAM: A versatile and accurate monocular SLAM system. Mur-Artal, R.; Montiel, J. M. M.; and Tardos, J. D IEEE Transactions on Robotics, 31(5):1147--1163, IEEE, 2015.
bibtex   
@Article{MurArtal_2015_17471,
  author = {Mur-Artal, Raul and Montiel, Jose Maria Martinez and Tardos, Juan D},
 journal = {IEEE Transactions on Robotics},
 number = {5},
 pages = {1147--1163},
 publisher = {IEEE},
 title = {ORB-SLAM: A versatile and accurate monocular SLAM system},
 volume = {31},
 year = {2015},
 title_with_no_special_chars = {ORBSLAM A versatile and accurate monocular SLAM system}
}
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