@inproceedings{eadeICCV2007,
  author = {Ethan Eade and Tom Drummond},
  title = {Monocular SLAM as a Graph of Coalesced Observations},
  booktitle = {Proc. 11th IEEE International Conference on Computer Vision}
  year = {2007},
  month = {October},
  address = {Rio de Janeiro, Brazil},
}