@article{RO_2010__44_4_365_0,
     author = {Bazeille, S. and Filliat, D.},
     title = {Combining odometry and visual loop-closure detection for consistent topo-metrical mapping},
     journal = {RAIRO - Operations Research - Recherche Op\'erationnelle},
     pages = {365--377},
     publisher = {EDP-Sciences},
     volume = {44},
     number = {4},
     year = {2010},
     doi = {10.1051/ro/2010021},
     language = {en},
     url = {http://www.numdam.org/articles/10.1051/ro/2010021/}
}