Using Visual Odometry to Create 3D Maps for Online Footstep Planning. Ozawa, R., Takaoka, Y., Kida, Y., & et al In 2005 IEEE International Conference on Systems, Man and Cybernetics, volume 3, pages 2643-2648, Oct., 2005.
bibtex   
@InProceedings{Ozawa05,
  Title                    = {Using Visual Odometry to Create {3D} Maps for Online Footstep Planning},
  Author                   = {R. Ozawa and Y. Takaoka and Y. Kida and et al},
  Booktitle                = {2005 IEEE International Conference on Systems, Man and Cybernetics},
  Year                     = {2005},
  Month                    = {Oct.},
  Pages                    = {2643-2648},
  Volume                   = {3}
}
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