@INPROCEEDINGS{eadeBMVC2008,
    author = {Ethan Eade and Tom Drummond},
    title = {Unified loop closing and recovery for real time monocular slam},
    booktitle = {Proc. 19th British Machine Vision Conference (BMVC)},
    year = {2008},
    month = {September},
    address = {Leeds, UK},
}