Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks. Se, S.; Lowe, D.; and Little, J. Intl. Journal of Robotics Research, 21:735-758, 2002.
bibtex   
@article{Lowe:02,
author = {S. Se and D. Lowe and J. Little},
title = {Mobile robot localization and mapping with 
uncertainty using scale-invariant visual landmarks},
journal= "Intl. Journal of Robotics Research",
volume= "21",
nuber= "8",
pages = "735-758",
year   = {2002}}
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