Tom Botterill, Steven Mills, Richard Green. Bag-of-words-driven, single-camera simultaneous localization and mapping. J. Field Robotics, 28(2):204-226, 2011. [doi]
@article{BotterillMG11,
title = {Bag-of-words-driven, single-camera simultaneous localization and mapping},
author = {Tom Botterill and Steven Mills and Richard Green},
year = {2011},
doi = {10.1002/rob.20368},
url = {http://dx.doi.org/10.1002/rob.20368},
researchr = {https://researchr.org/publication/BotterillMG11},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {28},
number = {2},
pages = {204-226},
}